Adaptive Team Formation for Collaborative Perimeter Defense
Resumo
In the Perimeter Defense Problem, teams of mobile robots must intercept intruders before they breach a protected region. This work introduces adaptive team formation and collaborative interception methods for both homogeneous and heterogeneous defender scenarios. Homogeneous teams use a Weapon-Target Assignment inspired network-flow formulation to optimize task assignment and routing, while heterogeneous defenders teams—differing in speed—are modeled as an Unsplittable Flow Problem and solved via a successive shortest-path heuristic. Experiments show that collaborative capture and strategic team composition significantly boost performance, and that the heuristic balances solution quality and speed, making it suitable for real-time security applications. Illustrative video: https://youtu.be/eB6NXVCknxk.
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