Two Algorithms for the Movements of Robotic Bodyguard Teams

In this paper we consider a scenario where one or more robotic bodyguards are protecting an important individual (VIP) moving in a public space against harassment or harm from unarmed civilians. In this scenario, the main objective of the robots is to position themselves such that at any given moment they provide maximum physical cover for the VIP. The robots need to follow the VIP in its movement and take into account the movements of the civilians as well. The environment can also contain obstacles which present challenges to movement but also provide natural cover. We designed two algorithms for the movement of the bodyguard robots: Threat Vector Resolution (TVR) for a single robot and Quadrant Load Balancing (QLB) for teams of bodyguard robots. We evaluated the proposed approaches against rigid formations in a simulation study.