Multirobot Cooperative Patrolling Strategy for Moving Objects

Li Huang, Mengchu Zhou, Kuangrong Hao, Hua Han

Research output: Contribution to journalArticlepeer-review

6 Scopus citations


In multirobot patrolling problems, various dynamic situations require a higher level of cooperation among robots. The dynamic problems caused by moving objects are rarely studied yet. This work proposes a distributed event-driven cooperative strategy for multirobot systems to patrol moving objects autonomously. First, forward and backward utility functions are defined as criteria for robots to conduct two-way evaluation when they choose their targets to patrol. Then, three event types and a cooperative action considering energy consumption and visiting frequency comprehensively are proposed to improve coordination among robots during their execution processes. In simulation experiments, the proposed strategy shows significant advantages on decreasing the average and maximum unvisited time of moving objects compared with the state-of-The-Art. A marine pollution monitoring case is simulated to demonstrate the practicability of this strategy.

Original languageEnglish (US)
Pages (from-to)2995-3007
Number of pages13
JournalIEEE Transactions on Systems, Man, and Cybernetics: Systems
Issue number5
StatePublished - May 1 2023

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Computer Science Applications
  • Electrical and Electronic Engineering


  • Dynamic patrolling
  • environment surveillance
  • event-driven coordination
  • multirobot system


Dive into the research topics of 'Multirobot Cooperative Patrolling Strategy for Moving Objects'. Together they form a unique fingerprint.

Cite this