@inproceedings{5ad063002b934b6d82f004884787d727,
title = "Virtual-Pheromone-Aware Path Planning for Collaborative Patrolling on Road Networks",
abstract = "The key to the multi-robot patrolling problem lies in the effective decision-making of the robots in path planning, which requires the design of autonomous and real-time collaborative strategies to improve the overall patrolling efficiency. To this end, a bio-inspired collaborative strategy using virtual pheromones for online sense decision-making is proposed in this paper. A virtual pheromone diffusion aggregation model is proposed to realize global state estimation for robots based on finite perception, taking into account the constraints of the robot{\textquoteright}s communication connectivity, perception space and road network structure. A pheromone field is constructed and different semantic pheromones are fused to design the decision function. The simulation results show that the algorithm is able to effectively plan the patrol path in the face of different patrol demands in complex road network topology, and exhibits a better collaborative patrol effect.",
keywords = "collaborative path planning, heuristic algorithm, road networks, virtual pheromone",
author = "Yan Zhang and Panfeng Huang and Fan Zhang",
note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.; International Conference on Guidance, Navigation and Control, ICGNC 2024 ; Conference date: 09-08-2024 Through 11-08-2024",
year = "2025",
doi = "10.1007/978-981-96-2268-9_49",
language = "英语",
isbn = "9789819622672",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "517--526",
editor = "Liang Yan and Haibin Duan and Yimin Deng",
booktitle = "Advances in Guidance, Navigation and Control - Proceedings of 2024 International Conference on Guidance, Navigation and Control Volume 18",
}