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

DC Field Value Language
dc.contributor.advisor김현진-
dc.contributor.author최지은-
dc.date.accessioned2017-07-14T03:31:58Z-
dc.date.available2017-07-14T03:31:58Z-
dc.date.issued2014-02-
dc.identifier.other000000016682-
dc.identifier.urihttps://hdl.handle.net/10371/123725-
dc.description학위논문 (석사)-- 서울대학교 대학원 : 기계항공공학부, 2014. 2. 김현진.-
dc.description.abstractIn 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.
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dc.description.tableofcontentsTable of Contents
List of Tables
List of Figures
Chapter
1 Introduction
1.1 Previous Works
1.2 Contributions
1.3 Thesis Overviews
2 Setup for Persistent Surveillance
2.1 Heterogeneous Agents
2.2 Environment Setting
3 MILP Formulations
3.1 Introduction to MILP
3.2 Objective Function
3.3 Location Constraints
3.4 Movement Constraints
3.5 Capability Constraints
3.6 Time-interval Constraints
4 Protocol for Cooperative Movement
4.1 Denition of Safe Zone
4.2 Task Assignment
4.3 Decision Making Behaviour Model
4.4 Overall Algorithm
5 Simulation
5.1 Simulation Setting
5.2 Simulation Results
6 Conclusions
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dc.formatapplication/pdf-
dc.format.extent9821645 bytes-
dc.format.mediumapplication/pdf-
dc.language.isoen-
dc.publisher서울대학교 대학원-
dc.subject혼합 정수계획법-
dc.subject지속 정찰-
dc.subject경로 계획-
dc.subject다중 로봇-
dc.subject협업-
dc.subject.ddc621-
dc.titleMulti-agent Persistent Surveillance with Time-interval Constraints Using Mixed Integer Linear Programming-
dc.typeThesis-
dc.description.degreeMaster-
dc.citation.pagesvii, 35-
dc.contributor.affiliation공과대학 기계항공공학부-
dc.date.awarded2014-02-
Appears in Collections:
College of Engineering/Engineering Practice School (공과대학/대학원)Dept. of Mechanical Aerospace Engineering (기계항공공학부)Theses (Master's Degree_기계항공공학부)
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