周辺警護のための効率的な最適アルゴリズム
Efficient Algorithms for Optimal Perimeter Guarding
多数のロボットを閉領域の周辺警護に最適配分し、各ロボットの最大担当距離を最小化する問題を構造解析に基づく高速厳密アルゴリズムで解いた。
著者: Si Wei Feng, Shuai D. Han, Kai Gao, Jingjin Yu
分類: cs.RO, cs.CG
原文アブストラクト
We investigate the problem of optimally assigning a large number of robots (or other types of autonomous agents) to guard the perimeters of closed 2D regions, where the perimeter of each region to be guarded may contain multiple disjoint polygonal chains. Each robot is responsible for guarding a subset of a perimeter and any point on a perimeter must be guarded by some robot. In allocating the robots, the main objective is to minimize the maximum 1D distance to be covered by any robot along the boundary of the regions. For this optimization problem which we call optimal perimeter guarding (OPG), thorough structural analysis is performed, which is then exploited to develop fast exact algorithms that run in guaranteed low polynomial time. In addition to formal analysis and proofs, experimental evaluations and simulations are performed that further validate the correctness and effectiveness of our algorithmic results.
