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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 multi-agent 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.

- Publication
- IEICE TRANSACTIONS on Fundamentals Vol.E107-A No.1 pp.25-30

- Publication Date
- 2024/01/01

- Publicized
- 2023/07/19

- Online ISSN
- 1745-1337

- DOI
- 10.1587/transfun.2023KEP0015

- Type of Manuscript
- Special Section PAPER (Special Section on Circuits and Systems)

- Category

Kyohei MURAKATA

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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Kyohei MURAKATA, Koichi KOBAYASHI, Yuh YAMASHITA, "Multi-Agent Surveillance Based on Travel Cost Minimization" in IEICE TRANSACTIONS on Fundamentals,
vol. E107-A, no. 1, pp. 25-30, January 2024, 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 multi-agent 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.

URL: https://global.ieice.org/en_transactions/fundamentals/10.1587/transfun.2023KEP0015/_p

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@ARTICLE{e107-a_1_25,

author={Kyohei MURAKATA, Koichi KOBAYASHI, Yuh YAMASHITA, },

journal={IEICE TRANSACTIONS on Fundamentals},

title={Multi-Agent Surveillance Based on Travel Cost Minimization},

year={2024},

volume={E107-A},

number={1},

pages={25-30},

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 multi-agent 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.},

keywords={},

doi={10.1587/transfun.2023KEP0015},

ISSN={1745-1337},

month={January},}

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TY - JOUR

TI - Multi-Agent Surveillance Based on Travel Cost Minimization

T2 - IEICE TRANSACTIONS on Fundamentals

SP - 25

EP - 30

AU - Kyohei MURAKATA

AU - Koichi KOBAYASHI

AU - Yuh YAMASHITA

PY - 2024

DO - 10.1587/transfun.2023KEP0015

JO - IEICE TRANSACTIONS on Fundamentals

SN - 1745-1337

VL - E107-A

IS - 1

JA - IEICE TRANSACTIONS on Fundamentals

Y1 - January 2024

AB - 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 multi-agent 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.

ER -