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Dynamic Surveillance by Multiple Agents with Fuel Constraints

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Please use this identifier to cite or link to this item:http://hdl.handle.net/2115/76921

Title: Dynamic Surveillance by Multiple Agents with Fuel Constraints
Authors: Masuda, Ryo Browse this author
Kobayashi, Koichi Browse this author →KAKEN DB
Yamashita, Yuh Browse this author →KAKEN DB
Keywords: fuel constraints
mixed integer programming
model predictive control
surveillance
Issue Date: Feb-2020
Publisher: 電子情報通信学会
Journal Title: IEICE transactions on fundamentals of electronics communications and computer sciences
Volume: E103.A
Issue: 2
Start Page: 462
End Page: 468
Publisher DOI: 10.1587/transfun.2019MAP0011
Abstract: The surveillance problem is to find optimal trajectories of agents that patrol a given area as evenly as possible. In this paper, we consider multiple agents with fuel constraints. The surveillance area is given by a weighted directed graph, where the weight assigned to each arc corresponds to the fuel consumption/supply. For each node, the penalty to evaluate the unattended time is introduced. Penalties, agents, and fuels are modeled by a mixed logical dynamical system model. Then, the surveillance problem is reduced to a mixed integer linear programming (MILP) problem. Based on the policy of model predictive control, the MILP problem is solved at each discrete time. In this paper, the feasibility condition for the MILP problem is derived. Finally, the proposed method is demonstrated by a numerical example.
Rights: copyright©2020 IEICE
Relation: http://search.ieice.org/
Type: article
URI: http://hdl.handle.net/2115/76921
Appears in Collections:情報科学院・情報科学研究院 (Graduate School of Information Science and Technology / Faculty of Information Science and Technology) > 雑誌発表論文等 (Peer-reviewed Journal Articles, etc)

Submitter: 小林 孝一

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