Distributed control of a robotic network for protection of a region from intruders

Abstract

This paper addresses a problem of intruder interception on the boundary of a protected region through the use of a network of mobile robots. A necessary and sufficient condition for the existence of a solution of this problem is obtained. We propose a decentralized motion control algorithm for the mobile robots to intercept an intruder entering the protected region. The algorithm is developed based on some simple rules that are computationally efficient and easily implementable in real time.