Multi-agent Coordinated Motion Planning for Monitoring and Controlling the Observed Space in a Security Zone

Monitoring and control of observed space in a security zone equipped with multi cameras and security robots are essential for efficient invader detection. For controlling the observed space, a coordinated motion planning technique is essential when a centralized motion planning solution is realized by a single supervisory system. This technique, however, is known to be very difficult to realize because concurrent multi-agent planning involves high computational complexity. We propose a new method for monitoring and controlling the observed space for a multi-agent security system with applicable computational burden. To identify time-varying observed space, two new tools, the extended overlap map (EOM) and the time-global surveillance coverage ratio graph (TGSG), are developed. Using these tools, we can properly monitor the time-varying observed space. In addition, to overcome the high complexity in the centralized motion planning, the priority is assigned to multi-agents. Finally, the observed space is monitored and controlled by planning multi-agents motions interactively using the EOM and the TGSG. The proposed method is then applied to conventional multi-agent security systems.