Autonomous surveillance robots: a decision-making framework for networked multiagent systems Articles uri icon

publication date

  • September 2017

start page

  • 52

end page

  • 64


  • 3


  • 24

International Standard Serial Number (ISSN)

  • 1070-9932

Electronic International Standard Serial Number (EISSN)

  • 1558-223X


  • This article proposes an architecture for an intelligent surveillance system, where the aim is to mitigate the burden on humans in conventional surveillance systems by incorporating intelligent interfaces, computer vision, and autonomous mobile robots. Central to the intelligent surveillance system is the application of research into planning and decision making in this novel context. In this article, we describe the robot surveillance decision problem and explain how the integration of components in our system supports fully automated decision making. Several concrete scenarios deployed in real surveillance environments exemplify both the flexibility of our system to experiment with different representations and algorithms and the portability of our system into a variety of problem contexts. Moreover, these scenarios demonstrate how planning enables robots to effectively balance surveillance objectives, autonomously performing the job of human patrols and responders.


  • robot kinematics; surveillance; cameras; robot vision systems; decision making; intelligent systems; human factors