|
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 >
Multi-Agent Surveillance Based on Travel Cost Minimization
| Title: | Multi-Agent Surveillance Based on Travel Cost Minimization |
| Authors: | Murakata, Kyohei Browse this author | | Kobayashi, Koichi Browse this author →KAKEN DB | | Yamashita, Yuh Browse this author →KAKEN DB |
| Keywords: | Chinese postman problem | | mixed integer programming | | surveil- lance problem | | travel cost |
| Issue Date: | 1-Jan-2024 |
| Publisher: | IEICE - Institute of the Electronics, Information and Communication Engineers |
| Journal Title: | IEICE transactions on fundamentals of electronics communications and computer sciences |
| Volume: | E107A |
| Issue: | 1 |
| Start Page: | 25 |
| End Page: | 30 |
| Publisher DOI: | 10.1587/transfun.2023KEP0015 |
| Abstract: | 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 multiagent 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. |
| Rights: | copyright©2024 IEICE |
| Type: | article |
| URI: | http://hdl.handle.net/2115/92469 |
| 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
|
