Energy Conserving Path when Chasing an Intruder by Autonomous Guards

Abstract

The rapid deployment of autonomous mobile guards require the guards to smartly use their energy in order to patrol and chase intruders where applicable. This paper provides solutions and strategies for conserving energy when a guard robot is chasing a mobile robot intruder while having limited information about the intruder's location. In this paper we look at energy conservation of the Moving Target Search with Snapshots problem where a mobile guard Ah is chasing a mobile intruder At in R2. Here, Ah can obtain At's location either by requesting a snapshot or by sensing At if Ah is close enough to At. The objective is to reduce the amount of energy that the guard robot is spending, where the total energy consists of the energy spent to roam around and the energy for taking/receiving a snapshot. In this paper we present 1) Solution for computing the minimum amount of energy required to catch the intruder in the worst case. 2) Algorithmic solutions for conserving energy used by Ah when using a limited number of snapshots computing the path, the locations and the time that Ah should take the snapshots.