Game theory model for patrolling an area that accounts for dynamic uncertainty

A non-transitory, tangible, computer-readable storage medium containing a program of instructions that cause a computer system running the program of instructions to:

• receive a map of an area to be patrolled, a list of patrolling units available for patrolling the area, a description of maneuverability of each of the patrolling units, a description of a possible attack or attacks, a list of routes for an attacker corresponding to each possible attack, a probability distribution for each possible attack and corresponding routes for the attacker, a list of one or more possible events that would delay the patrolling units during a patrol, a probability distribution for an occurrence of the one or more possible events that would delay the patrolling units;
• and
• generate a patrol schedule for each patrolling unit using a Bayesian Stackelberg game theory model based on the map of the area, the list of patrolling units, the description of maneuverability of each of the patrolling units, the description of the possible attack or attacks, the list of routes for the attacker corresponding to each possible attack, the probability distribution for each possible attack and corresponding routes for the attacker, the list of the one or more possible events that would delay the patrolling units, the probability distribution for the occurrence of the one or more possible events that would delay the patrolling units, wherein the probability distribution for the occurrence of the one or more possible events that would delay the patrolling units is represented by a Markov-decision process.