Dynamic Surveillance by Multiple Agents with Fuel Constraints

• MASUDA Ryo

  Graduate School of Information Science and Technology, Hokkaido University

• KOBAYASHI Koichi

  Graduate School of Information Science and Technology, Hokkaido University

• YAMASHITA Yuh

  Graduate School of Information Science and Technology, Hokkaido University

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.

Journal

• IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences

  IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences E103.A (2), 462-468, 2020-02-01

  The Institute of Electronics, Information and Communication Engineers

Keywords

• fuel constraints
• mixed integer programming
• model predictive control
• surveillance

Details

• CRID: 1390565134824784896
• NII Article ID: 130007793383
• NII Book ID: AA11510296
• DOI: 10.1587/transfun.2019map0011
• ISSN: 17451337
• ISSN: 09168508
• HANDLE: 2115/76921
• Web Site: https://www.jstage.jst.go.jp/article/transfun/E103.A/2/E103.A_2019MAP0011/_pdf
• Text Lang: en
• Data Source:
  • JaLC
  • IRDB
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed