A Survey on Multi-robot Patrolling Algorithms

  • David Portugal
  • Rui Rocha
Part of the IFIP Advances in Information and Communication Technology book series (IFIPAICT, volume 349)


This article presents a survey on cooperative multi-robot patrolling algorithms, which is a recent field of research. Every strategy proposed in the last decade is distinct and is normally based on operational research methods, simple and classic techniques for agent’s coordination or alternative, and usually more complex, coordination mechanisms like market-based approaches or reinforcement-learning. The variety of approaches differs in various aspects such as agent type and their decision-making or the coordination and communication mechanisms. Considering the current work concerning the patrolling problem with teams of robots, it is felt that there is still a great potential to take a step forward in the knowledge of this field, approaching well-known limitations in previous works that should be overcome.


Multi-Robot Systems Patrol Topological Maps and Graph Theory 


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Copyright information

© IFIP International Federation for Information Processing 2011

Authors and Affiliations

  • David Portugal
    • 1
  • Rui Rocha
    • 1
  1. 1.Instituto de Sistemas e Robótica, Department of Electrical and Computer EngineeringUniversity of CoimbraCoimbraPortugal

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