Distributed Multi-Agent Persistent Surveillance Under Temporal Logic Constraints

Abstract

We consider the problem of finding optimal agent trajectories for persistent surveillance missions subject to temporal logic (TL) constraints. Specifically, we aim to minimize the time between two consecutive visits to regions of interest in a partitioned environment while satisfying each agent's TL specification. We formulate a distributed optimization problem, where each agent plans its trajectory based only on local information. We use a formal methods approach to show that any trajectory resulting from the proposed controller satisfies the corresponding TL constraints. The results are illustrated through simulations by comparing the proposed strategy with a joint planner and a planner without communication.

Dynamic Surveillance by Multiple Agents with Fuel Constraints

“…1 again, where the node 1 is the supply node (i.e., S = {1}). For example, the paths P * (13, 1) and P * (9, 1) are given by (13,12,10,7,4,2,1) and (9,11,10,7,4,2,1), respectively. From S = {1}, we set s * = 1.…”

“…The surveillance problem is to find optimal trajectories of agents that patrol a given area as evenly as possible. This problem has been studied from several viewpoints (see, e.g., [1], [4], [6], [7], [9], [11], [12], [14]).…”

“…In [1], [9], a surveillance area is given by a graph. It is appropriate to model a complicated area as a graph by using discrete abstraction techniques [15].…”

“…It is appropriate to model a complicated area as a graph by using discrete abstraction techniques [15]. In [1], the automaton-based method has been proposed. In [9], the optimization-based method has been proposed.…”

“…In the case where a surveillance area is large, it is important to impose fuel constraints for each agent. Fuel constraints have been considered in the method in [1]. In this existing method, the fuel of each agent is decreased in a constant rate.…”