An Estimation Method for Arrival Time at the Farthest Point in Case of Optimal Deployment of Heterogeneous Multi-agent Problems

Abstract

This paper describes optimal deployment and estimation method for arrival time for heterogeneous swarm of unmanned vehicles using semi-regular tessellation and simple formulation. Although recent researches have verified the effectiveness of swarm of unmanned vehicles at the time of natural disaster etc. and many researches related to them have been made, many of them target homogeneous swarm. On the other hand, it is more difficult to generalize and formulate the model of heterogeneous swarm because of their complexity. This paper proposes the method of generalizing heterogeneous swarm model and its optimal deployment in case of surveillance which is one of the most possible missions for them. Moreover, semi-regular tessellation in geometry has been applied which is one of the representative methods to fill the plane in general.