Multi-Robot Long-Term Open Polyline Patrol

Multi-robot patrol is an ever growing field in which a team of robots works to optimize the frequency in which they pass through certain points. The number of applications for this is large and includes garbage collection, cleaning, and surveillance. Previous work fo-cused on the uniformity of the patrolling algorithm. We present an algorithm that works towards high-frequency patrol but focuses on long-term maintainability. A team of robots patrols a region along a fence. Each robot patrols its own segment of the line and removes itself to return to the charging station when it runs low on power. A new robot is then released, and the robots adjust the organization of the team accordingly. This algorithm presents a way to maintain coverage of an area over a long period of time as the robots are able to recharge and then return to patrolling