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Multi-robot patrolling is the potential application for robotic systems tosurvey wide areas efficiently without human burdens and mistakes. However, suchsystems have few examples of real-world applications due to their lack of humanpredictability. This paper proposes an algorithm: Local Reactive (LR) formulti-robot patrolling to satisfy both needs: (i)patrol efficiently and(ii)provide humans with better situation awareness to enhance systempredictability. Each robot operating according to the proposed algorithmselects its patrol target from the local areas around the robot's currentlocation by two requirements: (i)patrol location with greater need, (ii)reportits achievements to the base station. The algorithm is distributed andcoordinates the robots without centralized control by sharing their patrolachievements and degree of need to report to the base station. The proposedalgorithm performed better than existing algorithms in both patrolling and thebase station's situation awareness.

Multi-Robot Patrol Algorithm with Distributed Coordination and Consciousness of the Base Station's Situation Awareness