A survey of multi-robot regular and adversarial patrolling

Li Huang, Mengchu Zhou, Kuangrong Hao, Edwin Hou

Research output: Contribution to journalReview articlepeer-review

91 Scopus citations


Multi-robot systems can be applied to patrol a concerned environment for security purposes. According to different goals, this work reviews the existing researches in a multi-robot patrolling field from the perspectives of regular and adversarial patrolling. Regular patrolling requires robots to visit important locations as frequently as possible and a series of deterministic strategies are proposed, while adversarial one focuses on unpredictable robots moving patterns to maximize adversary detection probability. Under each category, a systematic survey is done including problem statements and modeling, patrolling objectives and evaluation criteria, and representative patrolling strategies and approaches. Existing problems and open questions are presented accordingly.

Original languageEnglish (US)
Article number8741294
Pages (from-to)894-903
Number of pages10
JournalIEEE/CAA Journal of Automatica Sinica
Issue number4
StatePublished - Jul 2019

All Science Journal Classification (ASJC) codes

  • Control and Optimization
  • Artificial Intelligence
  • Information Systems
  • Control and Systems Engineering


  • Adversarial patrolling
  • Coordination methods
  • Multi-robot systems
  • Regular patrolling
  • Surveillance


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