Transition matrix of a Markov chain that guides the movement of an autonomous patrolling robot

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Description

Transition matrix of a Markov chain that guides the movement of an autonomous patrolling robot. The chain has been computed according to game-theoretic techniques as the equilibrium solution of a leader-follower game between a potential intruder and a patroller. See the references section.

Usage

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Format

transRobot is a 10x10 2D matrix, linguisticTransitions is another 10x10 matrix of strings, and robotStates is a vector of state names of length 10.

Details

In the game-theoretic patrolling model proposed in Amigoni et al., the equilibrium solution of the leader-follower game is a Markov chain that can be computed by solving a set of independent linear programming problems. The transition probabilites are described in Fig. 1 of Amigoni et al. linguisticTransitions is a matrix of labels whose names should match the tags of the fuzzynumbers list argument in the call to fuzzyStationaryProb when linguisticTransitions is passed as first argument.

Author(s)

Pablo J. Villacorta Iglesias, Department of Computer Science and Artificial Intelligence, University of Granada (Spain).

pjvi@decsai.ugr.es - http://decsai.ugr.es/~pjvi/r-packages.html

References

Amigoni, F., Basilico, N., Gatti, N. Finding the Optimal Strategies for Robotic Patrolling with Adversaries in Topologically-Represented Eenvironments. In Proc. of ICRA 2009, pp. 819-824.

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