Dynamic Surveillance by Multiple Agents with Fuel Constraints


IEICE TRANSACTIONS on Fundamentals of Electronics, Communications and Computer Sciences   Vol.E103-A   No.2   pp.462-468
Publication Date: 2020/02/01
Online ISSN: 1745-1337
DOI: 10.1587/transfun.2019MAP0011
Type of Manuscript: Special Section PAPER (Special Section on Mathematical Systems Science and its Applications)
fuel constraints,  mixed integer programming,  model predictive control,  surveillance,  

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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.