Asynchronous multi-robot patrolling against intrusion in arbitrary topologies

Use of game theoretical models to derive randomized mobile robot patrolling strategies has recently received a growing attention. We focus on the problem of pa-trolling environments with arbitrary topologies using multiple robots. We address two important issues cur-rently open in the literature. We determine the small-est number of robots needed to patrol a given environ-ment and we compute the optimal patrolling strategies along several coordination dimensions. Finally, we ex-perimentally evaluate the proposed techniques