Stochastic strategies for patrolling a terrain with a synchronized multi-robot system

A group of cooperative aerial robots can be deployed to efficiently patrol a terrain, in which each robot flies around an assigned area and shares information with the neighbors periodically order protect or supervise it. To ensure robustness, previous works on these synchronized systems propose sending neighboring case it detects failure. In deal unpredictability improve efficiency deterministic patrolling scheme, this paper proposes random strategies cover areas distributed among agents. First, theoretical study stochastic process is addressed for two metrics: idle time, expected time between consecutive observations any point terrain isolation that without communication other robot. After that, are experimentally compared strategy adding another metric: broadcast elapsed from moment emits message until received by all team. The simulations show results good agreement outperform behavior obtained protocol proposed literature.