One of the main objectives for a group of robots patrolling the premises is to make sure that the area is evenly covered by surveillance, and to preclude situations where part of it is not surveyed. However, if a robot does not move over a long period of time, this reveals its position, and makes it easier for an intruder to covertly infiltrate the premises. That is why it is advisable to survey the same area from different observation points. This objective can be achieved by having the robots move in an interdependent fashion. Two robots located next to each other provide surveillance for one area of the premises, and take turns examining it from different perspectives.
Continuity for patrolling might be disrupted as the result of one, or several, robots getting excluded from the patrolling process. There are some predictable reasons for this, like the need of recharging, or unpredictable ones, like an insurmountable obstacle appearing in a robot's path of movement. In this case, the task of the robots that are still functioning is reassigned to ensure safety for the area of the premises that was patrolled by the inoperative robot.
This objective is achieved through multi-agent interaction between the robots where each of them can independently adjust its current task to resolve the larger, overriding one. It must be noted that solving such issues requires a certain resource redundancy in the mobile robot system. If the number of robots or amount of resources for the patrolling routes supports only the local task of the robot (that is, patrolling a certain area), then priorities must be set for the areas being patrolled in conditions when the resources for the security robot multi-agent system are limited.