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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.

- Publication
- IEICE TRANSACTIONS on Fundamentals Vol.E103-A No.2 pp.462-468

- Publication Date
- 2020/02/01

- Publicized

- Online ISSN
- 1745-1337

- DOI
- 10.1587/transfun.2019MAP0011

- Type of Manuscript
- Special Section PAPER (Special Section on Mathematical Systems Science and its Applications)

- Category

Ryo MASUDA

Hokkaido University

Koichi KOBAYASHI

Hokkaido University

Yuh YAMASHITA

Hokkaido University

The copyright of the original papers published on this site belongs to IEICE. Unauthorized use of the original or translated papers is prohibited. See IEICE Provisions on Copyright for details.

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Ryo MASUDA, Koichi KOBAYASHI, Yuh YAMASHITA, "Dynamic Surveillance by Multiple Agents with Fuel Constraints" in IEICE TRANSACTIONS on Fundamentals,
vol. E103-A, no. 2, pp. 462-468, February 2020, doi: 10.1587/transfun.2019MAP0011.

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.

URL: https://global.ieice.org/en_transactions/fundamentals/10.1587/transfun.2019MAP0011/_p

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@ARTICLE{e103-a_2_462,

author={Ryo MASUDA, Koichi KOBAYASHI, Yuh YAMASHITA, },

journal={IEICE TRANSACTIONS on Fundamentals},

title={Dynamic Surveillance by Multiple Agents with Fuel Constraints},

year={2020},

volume={E103-A},

number={2},

pages={462-468},

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.},

keywords={},

doi={10.1587/transfun.2019MAP0011},

ISSN={1745-1337},

month={February},}

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TY - JOUR

TI - Dynamic Surveillance by Multiple Agents with Fuel Constraints

T2 - IEICE TRANSACTIONS on Fundamentals

SP - 462

EP - 468

AU - Ryo MASUDA

AU - Koichi KOBAYASHI

AU - Yuh YAMASHITA

PY - 2020

DO - 10.1587/transfun.2019MAP0011

JO - IEICE TRANSACTIONS on Fundamentals

SN - 1745-1337

VL - E103-A

IS - 2

JA - IEICE TRANSACTIONS on Fundamentals

Y1 - February 2020

AB - 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.

ER -