This project develops and implements an n-member team of autonomous and cooperative sentry robots who maintain security in a physical environment by engaging in activities such as patrolling, inspecting, guarding, and intruder chasing and neutralization. Autonomy and cooperation are achieved by delegating the decision making to each robot in the team of intelligent robot agents that work towards the common goal of securing the environment. In other words, each robot maintains its autonomy by requiring it to decide itself about what to do and when to do it, yet have that decision reflect both its own needs as well as those of the team. Figure below show the general architecture of the robot agent system.

A large quantity of information is available that could be applied towards decision making. This information includes position of all robots and their current activities (patrol, chase, etc.), task variations, robot abilities and limitations such as remaining robot battery charge, floor coverage, location of a sighted intruder, and number of robots in the team. A fuzzy logic decision making yielded a satisfactory solution to the problem and permitted robot-reasoning that makes sense to human reasoning. The method has been applied and verified both in simulation and experimentation inside a building. Figure below shows two snap shots inside the laboratory showing a robot chasing an intruder robot.