Coalition Formation for Multi-Agent Coordination for Surveillance and Capture of Foreign Intruder using Bacteria Foraging Algorithm

In this work we have concentrated on the development of a multi-agent based surveillance system which can adapts itself based on the position of the moving intruder. We have mainly investigated this conception based on a modified Bacteria foraging algorithm which helps in the movement of the agents based on the positional information of the other co-agents in the system. We have investigated the various aspects of such a model system and have shown how the change in position has induced the other agents to change and have plotted the control fitness graphs. The paper shows the variation and the dynamics of the system with respect to the other parameters of the system like the participating number of agents, the environment, presence of static and dynamic blocks etc. The contribution of the work is marked by adaptive control for monitoring based on positional characteristics combining both attracting and scattering features. Bio-inspired computation has been known as their capability of balancing exploration and exploitation and yet again in multi-agent based surveillance they have shown that movement and decision making for unpredictable situation is subjected to search and optimization and cannot be handled in some deterministic algorithmic ways.