On Initial Locations, Feasibility, and Performance in Multi-Agent Surveillance Systems

A surveillance system by multiple mobile robots, which is called a multi-agent surveillance system, has many practical applications. In our previous studies, trajectories of agents are derived by solving the optimal surveillance problem at discrete time. In this paper, using the Chinese postman problem, we discuss the relation between initial locations, feasibility, and performance. Using the main result in this paper, we can determine the number of agents based on control specifications.