Multi-Agent Surveillance Based on Travel Cost Minimization

The multi-agent surveillance problem is to find optimal trajectories of multiple agents that patrol a given area as evenly possible. In this paper, we consider the based on travel cost minimization. by an undirected graph. penalty for each agent introduced evaluate performance. Through mixed logical dynamical system model, multiagent reduced integer linear programming (MILP) problem. model predictive control, are generated solving MILP at discrete time. Furthermore, condition always feasible derived Chinese postman Finally, proposed method demonstrated numerical example.