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patrol: patrolling_sim

Package Summary

Documented

Multi-Robot Patrolling Stage/ROS Simulation Package.

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Package Summary

Documented

Multi-Robot Patrolling Stage/ROS Simulation Package.

Package Summary

Documented

Multi-Robot Patrolling Stage/ROS Simulation Package.

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Warning: This version of the repository is OLD and is no longer being maintained. Please refer to the newer version. New Source at: https://github.com/davidbsp/patrolling_sim/

Description

Multi-Robot Patrolling Package for ROS. Composed of 7 running algorithms:

  • Heuristic Pathfinder Conscientious Cognitive (HPCC)
  • Conscientious Reactive (CR)
  • Heuristic Conscientious Reactive (HCR)
  • Cyclic Algorithm for Generic Graphs (CGG)
  • Generalized Multilevel Subgraph Patrolling Algorithm (MSP)
  • Greedy Bayesian Strategy (GBS)
  • State Exchange Bayesian Strategy (SEBS)

example12robots.png

ROS API

monitor

The monitor node is used for listening and collecting info from the robots, considered relevant for the patrol task. It also updates the simulation results in a xls file after each patrol cycle.

Published Topics

results (geometry_msgs/PointStamped)
  • Topic used for intialization, termination, communication of goals and interference between robots.

Conscientious_Cognitive

The Conscientious_Cognitive node runs the Heuristic Pathfinder Conscientious Cognitive Patrolling algorithm by Almeida [2].

Conscientious_Reactive

The Conscientious_Reactive node runs the Conscientious Reactive Patrolling algorithm by Machado et al [3].

Cyclic

The Cyclic node runs the Cyclic Algorithm for Generic Graphs by Portugal and Rocha [4].

GBS

The GBS node runs the Greedy Bayesian Strategy Patrolling algorithm by Portugal and Rocha.

Heuristic_Conscientious_Reactive

The Heuristic_Conscientious_Reactive node runs the Heuristic Conscientious Reactive Patrolling Algorithm by Almeida [2].

MSP

The MSP node runs the Generalized MSP Algorithm by Portugal and Rocha [3].

SEBS

The SEBS node runs the State Exchange Bayesian Strategy Patrolling algorithm by Portugal and Rocha.

Tutorials

To run the package, please read this Tutorial.

Description

Multi-Robot Patrolling Package for ROS. Composed of 11 running algorithms:

  • Random (RAND)
  • Heuristic Pathfinder Conscientious Cognitive (HPCC)
  • Conscientious Reactive (CR)
  • Heuristic Conscientious Reactive (HCR)
  • Cyclic Algorithm for Generic Graphs (CGG)
  • Generalized Multilevel Subgraph Patrolling Algorithm (MSP)
  • Greedy Bayesian Strategy (GBS)
  • State Exchange Bayesian Strategy (SEBS)
  • Concurrent Bayesian Learning Strategy (CBLS)
  • Dynamic Task Assignment Greedy (DTAG)
  • Dynamic Task Assignment based on sequential single item auctions (DTAP)

example_patrol.png

Tutorials

Check HERE to start using this package.

Video

References

Wiki: patrolling_sim (last edited 2016-06-21 14:12:10 by DavidPortugal)