Multi-robot patrolling with coordinated behaviours in realistic environments

Multi-robot patrolling is a fundamental functionality for multi-robot surveillance and environmental monitoring and has been longly investigated. However, benchmarks for multi-robot patrolling, the realization of realistic simulators and testing on real robotic platforms are still very limited. In this paper we discuss the application of state-of-the-art patrolling strategies in realistic applications, showing that it is important to take into account: perception needs of the robots, uncertainty on action execution, characteristics of the environment, closed-loop coordinated behaviors, and realistic simulation environments.