Patrolling Strategy Using Heterogeneous Multi Agents in Urban Environments Using Visibility Clustering

In this paper, we study the Visible Trajectories Planning for Patrolling application using heterogeneous multi agents in 3D urban environments. Our concept is based on a spatial clustering method using visibility analysis of the 3D visibility problem from viewpoints in 3D urban environments, defined as locations. We consider two kinds of agents, with different kinematic and perception capabilities. Using a simplified version of Traveling Salesman Problem (TSP), we formulate the problem as one of patrolling strategy, with upper boundary optimal performances. We present a combination of relative deadline UniPartition approaches based on visibility clusters. These key features allow new planning for an optimal patrolling strategy for heterogeneous agents in urban environments. We demonstrate our patrolling strategy method in simulations using Autonomous Navigation and Virtual Environment Laboratory (ANVEL) test bed environment.