Frequency-Based Multi-agent Patrolling Model and Its Area Partitioning Solution Method for Balanced Workload

Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 10848)


Multi-agent patrolling problem has received growing attention from many researchers due to its wide range of potential applications. In realistic environment, e.g., security patrolling, each location has different visitation requirement according to the required security level. Therefore, a patrolling system with non-uniform visiting frequency is preferable. The difference in visiting frequency generally causes imbalanced workload amongst agents leading to inefficiency. This paper, thus, aims at partitioning a given area to balance agents’ workload by considering that different visiting frequency and then generating route inside each sub-area. We formulate the problem of frequency-based multi-agent patrolling and propose its semi-optimal solution method, whose overall process consists of two steps – graph partitioning and sub-graph patrolling. Our work improve traditional k-means clustering algorithm by formulating a new objective function and combine it with simulated annealing – a useful tool for operations research. Experimental results illustrated the effectiveness and reasonable computational efficiency of our approach.


Frequency-based patrolling Graph partitioning Balanced workload Multi-agent systems Linear programming k-means based Simulated annealing 



This work is partly supported by JSPS KAKENHI grant number 17KT0044.


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© Springer International Publishing AG, part of Springer Nature 2018

Authors and Affiliations

  1. 1.Department of Computer Science and Communications EngineeringWaseda UniversityTokyoJapan

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