Multi-Agent Surveillance Based on Travel Cost Minimization

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  • MURAKATA Kyohei
    Graduate School of Information Science and Technology, Hokkaido University
  • KOBAYASHI Koichi
    Graduate School of Information Science and Technology, Hokkaido University
  • YAMASHITA Yuh
    Graduate School of Information Science and Technology, Hokkaido University

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<p>The multi-agent surveillance problem is to find optimal trajectories of multiple agents that patrol a given area as evenly as possible. In this paper, we consider the multi-agent surveillance problem based on travel cost minimization. The surveillance area is given by an undirected graph. The penalty for each agent is introduced to evaluate the surveillance performance. Through a mixed logical dynamical system model, the multi-agent surveillance problem is reduced to a mixed integer linear programming (MILP) problem. In model predictive control, trajectories of agents are generated by solving the MILP problem at each discrete time. Furthermore, a condition that the MILP problem is always feasible is derived based on the Chinese postman problem. Finally, the proposed method is demonstrated by a numerical example.</p>

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