@conference{
	11580_1464,
	author = {Marino, A. and Parker, L. and Antonelli, Gianluca and Caccavale, F.},
	title = {Fuzzy Behavioral Control for Multi-Robot Border Patrol},
	year = {2009},
	booktitle = {17th Mediterranean Conference on Control and Automation},
	abstract = {This paper deals with the problem of multi-robot border patrolling. The patrolling algorithm is designed by resorting to the behavioral control framework and is organized in a hierarchical structure. Several Elementary Behaviors are defined, which are the basis of the concept of Action, placed at a higher level of abstraction with respect to the behaviors. Each Action is obtained by properly combining multiple Elementary Behaviors via the Null-Space-Behavioral control framework. For the sake of robustness, the overall patrolling algorithm is fully decentralized, since explicit communication between robots is not needed. A a Fuzzy Inference System is designed to select the proper Action according to local sensor information only. The algorithm has been validated in simulation as well as experimentally on a setup composed by three Pioneer robots.},
	keywords = {Behavioral control; Border Patrol; Platoon of vehicles; Multi-robot systems; Swarm Robotics.},
	url = {https://ieeexplore.ieee.org/document/5164547},
	doi = {10.1109/MED.2009.5164547},
	pages = {246--251}
}

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