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Intelligent Patrolling

Intelligent Patrolling. Sarit Kraus Department of Computer Science Bar-Ilan University Collaborators: Noa Agmon, Gal Kaminka, Efrat Sless. Physical Security with Bounded Resources.

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Intelligent Patrolling

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  1. Intelligent Patrolling Sarit Kraus Department of Computer Science Bar-Ilan University Collaborators: Noa Agmon, Gal Kaminka, Efrat Sless

  2. Physical Security with Bounded Resources • Limited security resources prevent full security coverage at all times; allows adversaries to observe and exploit patterns in selective patrolling or monitoring. • Randomized patrolling or monitoring is necessary.

  3. Randomized Checkpoints

  4. Multi-Robot Adversarial Patrol • Motivation: • High security facilities • Large military bases • Neighborhood watch

  5. Protecting a Parade: route is announced

  6. Protecting a Moving Target: randomizing the route

  7. Why Do We Need Automated Methods for Randomization? • People are not good at randomization • The randomized strategy should depend on: • the adversary and the defenders’ utilities • the environment parameters • the defender’s resources.

  8. Multi-Robot Adversarial Patrol: The Environment • Perimeter • Divided into segments • Uniform time-distance • Robot travels through one segment per time unit • Adversary • Tries to penetrate through the perimeter • Takes t>0 time units to penetrate

  9. Robotic Model • k homogenous robots • Robotic movement model: • Robots’ movement is directed • Turning around “costs” τ time units

  10. Algorithm Framework • Patrol algorithm: • Continue straight with probability p • Turn around with probability 1-p • PPD: Probability of Penetration Detection • p depends on the distance between robots and on the penetration time.

  11. Robot Movement • Optimal: Robots are uniformly placed around the perimeter • Coordinated • If decide to turn around they do it simultaneously • Preserve uniform distance

  12. Robot Movement • Optimal: Robots are uniformly placed around the perimeter • Coordinated • If decide to turn around they do it simultaneously • Preserve uniform distance

  13. Robot Movement • Optimal: Robots are uniformly placed around the perimeter • Coordinated • If decide to turn around they do it simultaneously • Preserve uniform distance

  14. Robot Movement • Optimal: Robots are uniformly placed around the perimeter • Coordinated • If decide to turn around they do it simultaneously • Preserve uniform distance

  15. Handling Events What if a robot needs to inspect the penetration? • Once a penetration is detected, one robot is extracted from the team to inspect it • Coordinated attacks are beneficial to the adversary

  16. What Happens If Penetration Detected?

  17. What Happens If Penetration Detected? • Robot that detected the penetration will inspect it • Other k-1 robots will spread uniformly • To achieve optimal behavior for k-1 robots Phase 1: k robots (before event), steady state Phase 2: Reorganization Phase 3: k-1 robots (after event), steady state Optimal patrol known

  18. Naïve Approach • Deterministic:Each robot goes straight to its final position

  19. Randomized Reorganization • Challenges: • each robot needs to move differently • How much time to spend on the reorganization? • We randomized over possible paths • Finding the strategy is complex, in theory, but we used heuristics to find it in reasonable time

  20. Physical Security with Bounded Resources: Summary • Randomized patrolling or monitoring is necessary. • Automated randomization is important • Interesting problems? sarit@cs.biu.ac.il

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