Practical Handling of Dynamic Environments in Decentralised Multi-Robot Patrol

Persistent monitoring using robot teams is of interest in fields such as security, environmental monitoring, and disaster recovery. Performing such monitoring in a fully on-line decentralised fashion has significant potential advantages for robustness, adaptability, and scalability of monitoring solutions, including, in principle, the capacity to effectively adapt in real-time to a changing environment. We examine this through the lens of multi-robot patrol, in which teams of patrol robots must persistently minimise time between visits to points of interest, within environments where traversability of routes is highly dynamic. These dynamics must be observed by patrol agents and accounted for in a fully decentralised on-line manner. In this work, we present a new method of monitoring and adjusting for environment dynamics in a decentralised multi-robot patrol team. We demonstrate that our method significantly outperforms realistic baselines in highly dynamic scenarios, and also investigate dynamic scenarios in which explicitly accounting for environment dynamics may be unnecessary or impractical.