訪問頻度を考慮したマルチエージェント巡回問題における公平なタスク分割法の提案

早大学位記番号:新7959早稲田大

Developing Police Patrol Strategies Based on the Urban Street Network

In urban areas, crime and disorder have been long-lasting problems that spoil the economic and emotional well-being of residents. A significant way to deter crime, and maintain public safety is through police patrolling. So far, the deployment of police forces in patrolling has relied mainly on expert knowledge, and is usually based on two-dimensional spatial units, giving insufficient consideration to the underlying urban structure and collaboration among patrol officers. This approach has led to impractical and inefficient police patrol strategies, as well as a workload imbalance among officers. Therefore, it is of essential importance to devise advanced police patrol strategies that incorporate urban structure, the collaboration of the patrol officers, and a workload balance. This study aims to develop police patrol strategies that would make intelligent use of the street network layout in urban areas. The street network is a key component in urban structure and is the domain in which crime and policing take place. By explicitly considering street network configurations in their operations, police forces are enabled to provide timely responses to emergency calls and essential coverage to crime hotspots. Although some models have considered street networks in patrolling to some extent, challenges remain. First, most existing methods for the design of police districts use two-dimensional units, such as grid cells, as basic units, but using streets as basic units would lead to districts that are more accessible and usable. Second, the routing problem in police patrolling has several unique characteristics, such as patrollers potentially starting from different stations, but most existing routing strategies have failed to consider these. Third, police patrolling strategies should be validated using real-world scenarios, whilst most existing strategies in the literature have only been tested in small hypothetical instances without realistic settings. In this thesis, a framework for developing police patrol strategies based on the urban street network is proposed, to effectively cover crime hotspots, as well as the rest of the territory. This framework consists of three strategies, including a districting model, a patrol routing strategy for repeated coverage, and a patrol routing strategy for infrequent coverage. Various relevant factors have been considered in the strategy design, including the underlying structure of the street network and the collaboration among patrollers belonging to different stations. Moreover, these strategies have been validated by the patrolling scenarios in London. The results demonstrate that these strategies outperform the current corresponding benchmark strategies, which indicates that they may have considerable potential in future police operations

Modelling, Monitoring, Control and Optimization for Complex Industrial Processes

This reprint includes 22 research papers and an editorial, collected from the Special Issue "Modelling, Monitoring, Control and Optimization for Complex Industrial Processes", highlighting recent research advances and emerging research directions in complex industrial processes. This reprint aims to promote the research field and benefit the readers from both academic communities and industrial sectors

Effective Cooperation and Scalability in Multi-Robot Teams for Automatic Patrolling of Infrastructures

Tese de doutoramento em Engenharia Electrotécnica e de Computadores, apresentada ao Departamento de Engenharia Electrotécnica e de Computadores da Faculdade de Ciências e Tecnologia da Universidade de CoimbraIn the digital era that we live in, advances in technology have proliferated throughout our society, quickening the completion of tasks that were painful in the old days, improving solutions to the everyday problems that we face, and generally assisting human beings both in their professional and personal life. Robotics is a clear example of a broad technological field that evolves every day. In fact, scientists predict that in the upcoming few decades, robots will naturally interact and coexist alongside human beings. While it is true that robots already have a strong presence in industrial environments, e.g., robotic arms for manufacturing, the average person still looks upon robots with suspicion, since they are not acquainted by such type of technology. In this thesis, the author deploys teams of mobile robots in indoor scenarios to cooperatively perform patrolling missions, which represents an effort to bring robots closer to humans and assist them in monotonous or repetitive tasks, such as supervising and monitoring indoor infrastructures or simply cooperatively cleaning floors. In this context, the team of robots should be able to sense the environment, localize and navigate autonomously between way points while avoiding obstacles, incorporate any number of robots, communicate actions in a distributed way and being robust not only to agent failures but also communication failures, so as to effectively coordinate to achieve optimal collective performance. The referred capabilities are an evidence that such systems can only prove their reliability in real-world environments if robots are endowed with intelligence and autonomy. Thus, the author follows a line of research where patrolling units have the necessary tools for intelligent decision-making, according to the information of the mission, the environment and teammates' actions, using distributed coordination architectures. An incremental approach is followed. Firstly, the problem is presented and the literature is deeply studied in order to identify potential weaknesses and research opportunities, backing up the objectives and contributions proposed in this thesis. Then, problem fundamentals are described and benchmarking of multi-robot patrolling algorithms in realistic conditions is conducted. In these earlier stages, the role of different parameters of the problem, like environment connectivity, team size and strategy philosophy, will become evident through extensive empirical results and statistical analysis. In addition, scalability is deeply analyzed and tied with inter-robot interference and coordination, imposed by each patrolling strategy. After gaining sensibility to the problem, preliminary models for multi-robot patrol with special focus on real-world application are presented, using a Bayesian inspired formalism. Based on these, distributed strategies that lead to superior team performance are described. Interference between autonomous agents is explicitly dealt with, and the approaches are shown to scale to large teams of robots. Additionally, the robustness to agent and communication failures is demonstrated, as well as the flexibility of the model proposed. In fact, by later generalizing the model with learning agents and maintaining memory of past events, it is then shown that these capabilities can be inherited, while at the same time increasing team performance even further and fostering adaptability. This is verified in simulation experiments and real-world results in a large indoor scenario. Furthermore, since the issue of team scalability is highly in focus in this thesis, a method for estimating the optimal team size in a patrolling mission, according to the environment topology is proposed. Upper bounds for team performance prior to the mission start are provided, supporting the choice of the number of robots to be used so that temporal constraints can be satisfied. All methods developed in this thesis are tested and corroborated by experimental results, showing the usefulness of employing cooperative teams of robots in real-world environments and the potential for similar systems to emerge in our society.FCT - SFRH/BD/64426/200

Optimal UAS Assignments and Trajectories for Persistent Surveillance and Data Collection from a Wireless Sensor Network

This research developed a method for multiple Unmanned Aircraft Systems (UAS) to efficiently collect data from a Wireless Sensor Networks (WSN). WSN are composed of any number of fixed, ground-based sensors that collect and upload local environmental data to over flying UAS. The three-step method first uniquely assigns aircraft to specific sensors on the ground. Second, an efficient flight path is calculated to minimize the aircraft flight time required to verify their assigned sensors. Finally, sensors reporting relatively higher rates of local environmental activity are re-assigned to dedicated aircraft tasked with concentrating on only those sensors. This work was sponsored by the Air Force Research Laboratory, Control Sciences branch, at Wright Patterson AFB. Based on simulated scenarios and preliminary flight tests, optimal flight paths resulted in a 14 to 32 reduction in flight time and distance when compared to traditional flight planning methods

Riverine sustainment 2012

Student Integrated ProjectIncludes supplementary materialThis technical report analyzed the Navy's proposed Riverine Force (RF) structure and capabilities for 2012. The Riverine Sustainment 2012 Team (RST) examined the cost and performance of systems of systems which increased RF sustainment in logistically barren environments. RF sustainment was decomposed into its functional areas of supply, repair, and force protection. The functional and physical architectures were developed in parallel and were used to construct an operational architecture for the RF. The RST used mathematical, agent-based and queuing models to analyze various supply, repair and force protection system alternatives. Extraction of modeling data revealed several key insights. Waterborne heavy lift connectors such as the LCU-2000 are vital in the re-supply of the RF when it is operating up river in a non-permissive environment. Airborne heavy lift connectors such as the MV-22 were ineffective and dominated by the waterborne variants in the same environment. Increase in manpower and facilities did appreciable add to the operational availability of the RF. Mean supply response time was the biggest factor effecting operational availability and should be kept below 24 hours to maintain operational availability rates above 80%. Current mortar defenses proposed by the RF are insufficient.N

Design and implementation of an automated battery management platform

Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2012.Cataloged from department-submitted PDF version of thesis. This electronic version was submitted and approved by the author's academic department as part of an electronic thesis pilot project. The certified thesis is available in the Institute Archives and Special Collections.Includes bibliographical references (p. 95-99).This thesis describes the design and the implementation of the hardware platform for automated battery management with battery changing/charging capability for autonomous UAV missions with persistency requirement that extends the mission duration beyond the life of a single UAV battery. The platform is tested through a series of missions lasting at least 3 hours to prove it meets design requirements and to show its feasibility. This thesis also provides a method to modify existing scenarios to proactively plan for the battery maintenance so that the overall system performance is increased. The modifications made to the problem definition increased the state-space significantly, and means of solving a problem of that scale needed to be developed. To address this challenge, this thesis extends a previously developed approach called Incremental Feature Dependency Discovery (iFDD) by allowing to use caches from computer science literature to make conversion from basic features to extended features faster. By doing so, this method significantly reduces the computational complexity.by Tuna Toksoz.S.M