Hard-to-predict routing algorithm from intruders for autonomous surveillance robots

Autonomous surveillance robots are now successful applications of robotics technologies. In this area, multiple surveillance routes have not been considered as a performance criterion. If the surveillance route is fixed and this fact is leaked to intruders, the place with a long-time interval between two visits of a robot could be open to attack. In this paper, a novel, simple, and easy-to-implement routing algorithm is proposed; the main idea is to add redundant edges to the original undirected graph. Then, the routing is formulated as a Chinese Postman Problem. The usefulness of the proposed algorithm is verified through some numerical experiments.