  The application of autonomous mobile robots in robotic security platforms is
becoming a promising field of innovation due to their adaptive capability of
responding to potential disturbances perceived through a wide range of sensors.
Researchers have proposed systems that either focus on utilizing a single
mobile robot or a system of cooperative multiple robots. However, very few of
the proposed works, particularly in the field of multi-robot systems, are
completely dependent on LiDAR sensors for achieving various tasks. This is
essential when other sensors on a robot fail to provide peak performance in
particular conditions, such as a camera operating in the absence of light. This
paper proposes a multi-robot system that is developed using ROS (Robot
Operating System) for intruder detection in a single-range-sensor-per-robot
scenario with centralized processing of detections from all robots by our
central bot MIDNet (Multiple Intruder Detection Network). This work is aimed at
providing an autonomous multi-robot security solution for a warehouse in the
absence of human personnel.
