Investigates optimal patrolling schedule minimizing latency in robot coordination on star trees, suggesting enhanced efficiency.
We investigate the problem of coordinatingkrobots to patrolnsites arranged in a tree structure. The objective is to minimise the maximum latency of any site, defined as the longest time between two consecutive visits. Assuming a uniform robot speed, we propose an O(n log n) algorithm that efficiently computes an optimal patrol schedule for star-shaped trees.
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Chen et al. (2026) studied this question.
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