Multi-Agent Surveillance Based on Travel Cost Minimization
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- MURAKATA Kyohei
- Graduate School of Information Science and Technology, Hokkaido University
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- KOBAYASHI Koichi
- Graduate School of Information Science and Technology, Hokkaido University
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- YAMASHITA Yuh
- Graduate School of Information Science and Technology, Hokkaido University
Description
<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>
Journal
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- IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences
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IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences E107.A (1), 25-30, 2024-01-01
The Institute of Electronics, Information and Communication Engineers
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Details 詳細情報について
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- CRID
- 1390298668091708416
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- ISSN
- 17451337
- 09168508
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- HANDLE
- 2115/92469
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- Text Lang
- en
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- Data Source
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- JaLC
- IRDB
- Crossref
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- Abstract License Flag
- Disallowed