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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


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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Correspondence to Malrey Lee.

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An erratum to this article can be found at

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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).

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