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Fuzzy logic decision making for multi-robot security systems

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An Erratum to this article was published on 17 July 2010

Abstract

The paper proposes a fuzzy logic decision making system for security robots that deals with multiple tasks with dynamically changing scene. The tasks consist of patrolling the environment, inspecting for missing items, chasing and disabling intruders, and guarding the area. The decision making considers robot limitations such as maximum floor coverage per robot and remaining robot battery energy, as well as cooperation among robots to complete the mission. Each robot agent makes its own decision based on its internal information as well as information broadcast to it by other robots about events such as intruder sighting. As a result the multi-robot security system is distributive without a central coordinator. The system has been implemented both in simulations and on actual robots and its performance has been verified under different scenarios.

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Author information

Authors and Affiliations

  1. The Research Center of Industrial Technology, School of Electronics & Information Engineering, ChonBuk National University, 664-14, 1Ga, DeokJin-Dong, JeonJu, ChonBuk, 561-756, South Korea

    Malrey Lee

  2. Department of Computer Science, San Diego State University, San Diego, CA, 92128-7720, USA

    Mahmoud Tarokh & Matthew Cross

Authors
  1. Malrey Lee
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  2. Mahmoud Tarokh
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  3. Matthew Cross
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Corresponding author

Correspondence to Malrey Lee.

Additional information

An erratum to this article can be found at http://dx.doi.org/10.1007/s10462-010-9173-y

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Lee, M., Tarokh, M. & Cross, M. Fuzzy logic decision making for multi-robot security systems. Artif Intell Rev 34, 177–194 (2010). https://doi.org/10.1007/s10462-010-9168-8

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  • DOI: https://doi.org/10.1007/s10462-010-9168-8

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