Dynamic Surveillance by Multiple Agents with Fuel Constraints

Masuda, Ryo; Kobayashi, Koichi; Yamashita, Yuh

IEICE transactions on fundamentals of electronics communications and computer sciences, 2020, E103.A(2), 462-468

Permalink : https://hdl.handle.net/2115/76921

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論文情報

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アクセス権
open access
URI
https://hdl.handle.net/2115/76921
タイトル
Dynamic Surveillance by Multiple Agents with Fuel Constraints
著者
Masuda, Ryo ; Kobayashi, Koichi ; Yamashita, Yuh
著者名
Masuda, Ryo
e-Rad_Researcher
50452115
著者名
Kobayashi, Koichi
e-Rad_Researcher
90210426
著者名
Yamashita, Yuh
言語
英語
キーワード
fuel constraints
mixed integer programming
model predictive control
surveillance
発行日
2020-02
出版者
電子情報通信学会
The Institute of Electronics, Information and Communication Engineers / IEICE
収録物名
IEICE transactions on fundamentals of electronics communications and computer sciences
巻(号)
E103.A(2)
ページ
462-468
抄録
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.
資源タイプ
学術雑誌論文
出版タイプ
Version of Record
権利情報
copyright©2020 IEICE
PISSN
0916-8508
NCID
AA11510296
関連情報
URI
http://search.ieice.org/
関連情報 (isIdenticalTo)
出版社版DOI
https://doi.org/10.1587/transfun.2019MAP0011