https://roboticpatterns.com/tags/surveillance/ Recent content in surveillance on Specification Patterns for Robotic Missions Hugo -- gohugo.io en-us Claudio Menghi, Christos Tsigkanos, Thorsten Berger, Patrizio Pelliccione, Carlo Ghezzi Thu, 08 Feb 2018 17:51:49 +0100 https://roboticpatterns.com/pattern/fairpatrolling/ Thu, 08 Feb 2018 17:51:49 +0100 https://roboticpatterns.com/pattern/fairpatrolling/ Intent This pattern requires a robot to keep visiting a set of locations in a fair way, i.e., the robots patrols the locations by keeping the number of times every area is patrolled equal. LTL Template $\overset{n}{\underset{i=1}{\bigwedge}} \mathcal{G}( \mathcal{F} (l_i))$ $\overset{n}{\underset{i=1}{\bigwedge}} \mathcal{G} (l_{i} \rightarrow \mathcal{X} ((\neg l_i)\ \mathcal{W}\ l_{(i+1)\%n}))$ , where ($l_1, l_2, \ldots$ are location propositions) where “l1” and “l2” are expressions that indicate that a robot r is in location 1 and 2. https://roboticpatterns.com/pattern/orderedpatrolling/ Thu, 08 Feb 2018 17:51:49 +0100 https://roboticpatterns.com/pattern/orderedpatrolling/ Intent This pattern requires a robot to keep visiting a set of locations, in some specified order, similarly to sequenced patrolling. However, given an order, e.g., 1 and 2 between two locations, it is not admitted to the robot to visit 2 before 1. LTL Template $\mathcal{G} (\mathcal{F} (l_1 \wedge \mathcal{F}(l_2 \wedge \ldots \mathcal{F}(l_n)))) $ $\overset{n-1}{\underset{i=1}{\bigwedge}} (\neg l_{i+1}) \mathcal{U} l_i$\\ $\overset{n}{\underset{i=1}{\bigwedge}} \mathcal{G} (l_{(i+1)\%n} \rightarrow \mathcal{X} ( (\neg l_{(i+1)\%n}) \mathcal{U} l_{i}))$ , where ($l_1, l_2, \ldots$ are location propositions) Note that the pattern is general and consider the case in which a robot can be in two locations at the same time. https://roboticpatterns.com/pattern/sequencedpatrolling/ Thu, 08 Feb 2018 17:51:49 +0100 https://roboticpatterns.com/pattern/sequencedpatrolling/ Intent Given a set of locations the robot should REPEATEDLY visit all the locations in sequence. LTL Template $\mathcal{G} (\mathcal{F} (l_1 \wedge \mathcal{F}(l_2 \wedge \ldots \mathcal{F}(l_n))))$ , where ($l_1, l_2, \ldots$ are location propositions) Note that the pattern is general and consider the case in which a robot can be in two locations at the same time. For example, a robot can be in an area of a building indicated as l1 (e. https://roboticpatterns.com/pattern/strictorderedpatrolling/ Thu, 08 Feb 2018 17:51:49 +0100 https://roboticpatterns.com/pattern/strictorderedpatrolling/ Intent A robot must patrol a set of locations following a strict order. LTL Template $\mathcal{G} (\mathcal{F} (l_1 \wedge \mathcal{F}(l_2 \wedge \ldots \mathcal{F}(l_n)))) $ $\overset{n-1}{\underset{i=1}{\bigwedge}} (\neg l_{i+1}) \mathcal{U} l_i$ $\overset{n}{\underset{i=1}{\bigwedge}} \mathcal{G} (l_{(i+1)\%n} \rightarrow \mathcal{X} ( (\neg l_{(i+1)\%n}) \mathcal{U} l_{i}))$ $\overset{n-1}{\underset{i=1}{\bigwedge}} \mathcal{G} ((l_{i}) \rightarrow \mathcal{X} (\neg l_{i} \mathcal{U} (l_{(i+1)\%n})))$, where $l_1, l_2, \ldots$ are location propositions. Note that the pattern is general and consider the case in which a robot can be in two locations at the same time.