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Multi-agent Persistent Surveillance with Time-interval Constraints Using Mixed Integer Linear Programming

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Authors
최지은
Advisor
김현진
Major
공과대학 기계항공공학부
Issue Date
2014-02
Publisher
서울대학교 대학원
Keywords
혼합 정수계획법지속 정찰경로 계획다중 로봇협업
Description
학위논문 (석사)-- 서울대학교 대학원 : 기계항공공학부, 2014. 2. 김현진.
Abstract
In the past years, cooperative operation of multiple robots has attracted considerable research interest for coverage and search of broad and complex areas. Unlike the complete coverage problem, in the basic persistent surveillance problem each location in the environment must be visited repeatedly while minimizing the time-interval between any two visits to the same location. In this paper, we propose a cooperative path planning algorithm for an efficient persistent surveillance operation of multiple heterogeneous agents using mixed
integer linear programming. Since we specially consider a grid environment with different priories (time interval constraints), agents must visit the region at least once within the specific time interval constraint. The cost function is the maximum risk minimization. Also, we consider a protocol for cooperative movement of heterogeneous agents. The objectives of the proposed algorithm are: persistent surveillance operation with time interval constraints, obstacle avoidance, and collision avoidance among multiple agents. Simulation results conrm that a cell is visited at least once within its time interval constraints.
Language
English
URI
https://hdl.handle.net/10371/123725
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College of Engineering/Engineering Practice School (공과대학/대학원)Dept. of Mechanical Aerospace Engineering (기계항공공학부)Theses (Master's Degree_기계항공공학부)
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