|
Hokkaido University Collection of Scholarly and Academic Papers >
Graduate School of Information Science and Technology / Faculty of Information Science and Technology >
Peer-reviewed Journal Articles, etc >
Computationally Efficient Model Predictive Control for Multi-Agent Surveillance Systems
| Title: | Computationally Efficient Model Predictive Control for Multi-Agent Surveillance Systems |
| Authors: | KOBAYASHI, Koichi Browse this author →KAKEN DB | | KIDO, Mifuyu Browse this author | | YAMASHITA, Yuh Browse this author →KAKEN DB |
| Keywords: | mixed integer programming | | model predictive control | | multiple agents | | persistent surveillance |
| Issue Date: | 1-Feb-2019 |
| Publisher: | IEICE |
| Journal Title: | IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences |
| Volume: | E102.A |
| Issue: | 2 |
| Start Page: | 372 |
| End Page: | 378 |
| Publisher DOI: | 10.1587/transfun.E102.A.372 |
| Abstract: | In this paper, a surveillance system by multiple agents, which is called a multi-agent surveillance system, is studied. A surveillance area is given by an undirected connected graph. Then, the optimal control problem for multi-agent surveillance systems (the optimal surveillance problem) is to find trajectories of multiple agents that travel each node as evenly as possible. In our previous work, this problem is reduced to a mixed integer linear programming problem. However, the computation time for solving it exponentially grows with the number of agents. To overcome this technical issue, a new model predictive control method for multi-agent surveillance systems is proposed. First, a procedure of individual optimization, which is a kind of approximate solution methods, is proposed. Next, a method to improve the control performance is proposed. In addition, an event-triggering condition is also proposed. The effectiveness of the proposed method is presented by a numerical example. |
| Rights: | copyright©2019 IEICE |
| Type: | article |
| URI: | http://hdl.handle.net/2115/90182 |
| 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
|
