Multi-Agent Surveillance Based on Travel Cost Minimization

Murakata, Kyohei; Kobayashi, Koichi; Yamashita, Yuh

IEICE transactions on fundamentals of electronics communications and computer sciences, 2024, E107A(1), 25-30

Permalink : https://hdl.handle.net/2115/92469

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アクセス権
open access
URI
https://hdl.handle.net/2115/92469
タイトル
Multi-Agent Surveillance Based on Travel Cost Minimization
著者
Murakata, Kyohei ; Kobayashi, Koichi ; Yamashita, Yuh
著者名
Murakata, Kyohei
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
Chinese postman problem
mixed integer programming
surveil- lance problem
travel cost
発行日
2024-01-01
出版者
IEICE - Institute of the Electronics, Information and Communication Engineers
収録物名
IEICE transactions on fundamentals of electronics communications and computer sciences
巻(号)
E107A(1)
ページ
25-30
抄録
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.
資源タイプ
学術雑誌論文
出版タイプ
Version of Record
権利情報
copyright©2024 IEICE
PISSN
0916-8508
関連情報 (isIdenticalTo)
出版社版DOI
https://doi.org/10.1587/transfun.2023KEP0015