谭民 , 王硕 , 曹志强 . 多机器人系统 [M ] . 北京 : 清华大学出版社 , 2005 .

TAN M , WANG S , CAO Z Q . Multi-robot systems [M ] . Beijing : Tsinghua University Press , 2005 . (in Chinese)

TENG Z F , QIAN L D , HUANG J F . Multi-target localization algorithm for wireless sensor network [J ] . Peer-to-Peer Networking and Applications , 2021 , 14 : 3452 - 3459 . DOI: 10.1007/s12083-021-01193-4 http://doi.org/10.1007/s12083-021-01193-4

NGUYEN T G , PHAN T V , NGUYEN H H , et al. An efficient distributed algorithm for target-coverage preservation in wireless sensor networks [J ] . Peer-to-Peer Networking and Applications , 2021 , 14 : 453 - 466 . DOI: 10.1007/s12083-020-00987-2 http://doi.org/10.1007/s12083-020-00987-2

刘大鹍 , 陈桂芬 , 王义君 . 自组织网络区域覆盖协作控制算法 [J ] . 兵工学报 , 2020 , 41 ( 6 ): 1131 - 1139 . DOI: 10.3969/j.issn.1000-1093.2020.06.009 http://doi.org/10.3969/j.issn.1000-1093.2020.06.009 针对自组织网络区域覆盖控制算法覆盖效率低、能量消耗大以及传输可靠性差等问题，在分析自组织网络模型特点基础上，提出基于三角剖分的自组织网络元胞遗传区域覆盖协作控制算法。该算法以节点覆盖区域外部多边形顶点结构为基准，通过三角剖分形式将网络覆盖区域划分为若干子域；基于染色方案将子域顶点处节点定义为扫频节点，根据区域划分后信号频谱的不同确定集群范围；在考虑通信能耗和空闲能耗基础上，采用元胞遗传思想解决自组织网络节点功率控制方式。仿真结果表明，节点数量在100~500之间时，该算法相对于均衡速率区域覆盖算法、最小节点强屏障的分区构造算法、覆盖配置协议算法、多跳Ad Hoc无线网络的节能技术算法，覆盖效率至少提高3%，能量消耗至少减少2 J，平均端到端可靠度至少提高9.5%.

LIU D K , CHEN G F , WANG Y J . Regional coverage cooperative control algorithm for Ad Hoc networks [J ] . Acta Armamentarii , 2020 , 41 ( 6 ): 1131 - 1139 . (in Chinese) DOI: 10.3969/j.issn.1000-1093.2020.06.009 http://doi.org/10.3969/j.issn.1000-1093.2020.06.009 Ad hoc networks regional coverage control algorithm has some problems including low covering efficiency， high energy consumption and poor transmission reliability. A cellular-genetic regional coverage cooperative control algorithm based on triangle subdivision (CRCCTS) is proposed on the basis of analyzing the network models of ad hoc networks. The CRCCTS algorithm takes the vertex structure of outer polygon of node coverage area as the datum， and divides the network coverage area into several subdomains through triangulation. Based on the dyeing scheme， the nodes at the subdomain vertices are defined as frequency nodes， and the cluster range is determined according to the different signal spectra after region division. Finally， the cellular genetic idea is used to solve the power control mode of self-organizing cooperative network nodes in the consideration of communication energy consumption and idle energy consumption. Simulated results show that, when the number of nodes is large （100-500 nodes），the coverage efficiency of CRCCTS algorithm can reach up to 3%，the energy consumption is reduced by at least 2 J, and the average end-to-end reliability is increased by at least 9.5% compared to balanced rate area coverage algorithm, discriminant construction algorithm for minimum node strong barrier, coverage configuration protocol algorithm, and multi-hop Ad Hoc wireless network energy-saving technology algorithm. Key

刘丽萍 , 王智 , 孙优贤 . 无线传感器网络连接问题研究 [J ] . 兵工学报 , 2007 , 28 ( 9 ): 1096 - 1102 . 延长寿命和提高服务质量是无线传感器网络设计的主要目标，也是必须解决的重点、难点问题。本文从这一角度出发探讨了无线传感器网络中的连接问题。分析总结了网络连接的基本特征和判定条件，包括最优邻居节点数目及其临界值，节点密度和通信范围等；研究了连接与覆盖的关系，讨论了现有兼顾连接与覆盖的部署方法；探讨了保证连接降低能量消耗的拓扑控制问题；最后对实际环境中连接实验的特性和设计方案进行了分析。本文不但系统、全面地综述了关于连接的最新进展，而且对主要难点问题和今后发展方向进行了详细的分析。

LIU L P , WANG Z , SUN Y X . Connectivity in wireless sensor networks [J ] . Acta Armamentarii , 2007 , 28 ( 9 ): 1096 - 1102 . (in Chinese)

HUANG L , ZHOU M C , HAO K R , et al. A survey of multi-robot regular and adversarial patrolling [J ] . IEEE/CAA Journal of Automatica Sinica , 2019 , 6 ( 4 ): 894 - 903 . DOI: 10.1109/JAS.2019.1911537 http://doi.org/10.1109/JAS.2019.1911537 Multi-robot systems can be applied to patrol a concerned environment for security purposes. According to different goals, this work reviews the existing researches in a multi-robot patrolling field from the perspectives of regular and adversarial patrolling. Regular patrolling requires robots to visit important locations as frequently as possible and a series of deterministic strategies are proposed, while adversarial one focuses on unpredictable robots' moving patterns to maximize adversary detection probability. Under each category, a systematic survey is done including problem statements and modeling, patrolling objectives and evaluation criteria, and representative patrolling strategies and approaches. Existing problems and open questions are presented accordingly.

ARRIBAS E , MANCUSO V , CHOLVI V . Coverage optimization with a dynamic network of drone relays [J ] . IEEE Transactions on Mobile Computing , 2019 , 19 ( 10 ): 2278 - 2298 . DOI: 10.1109/TMC.7755 http://doi.org/10.1109/TMC.7755 https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=7755 https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=7755

WANG T , HUANG P F , DONG G Q . Modeling and path planning for persistent surveillance by unmanned ground vehicle [J ] . IEEE Transactions on Automation Science and Engineering , 2020 , 18 ( 4 ): 1615 - 1625 . DOI: 10.1109/TASE.2020.3013288 http://doi.org/10.1109/TASE.2020.3013288 https://ieeexplore.ieee.org/document/9170767/ https://ieeexplore.ieee.org/document/9170767/

WANG T , HUANG P F , DONG G Q . Cooperative persistent surveillance on a road network by multi-UGVs with detection ability [J ] . IEEE Transactions on Industrial Electronics , 2021 , 69 ( 11 ): 11468 - 11478 . DOI: 10.1109/TIE.2021.3121729 http://doi.org/10.1109/TIE.2021.3121729 https://ieeexplore.ieee.org/document/9591389/ https://ieeexplore.ieee.org/document/9591389/

霍耀彦 , 李宗刚 , 高溥 . 基于节点重要度的多机器人分布式巡逻策略 [J ] . 计算机应用研究 , 2022 , 39 ( 2 ): 510 - 514 .

HUO Y Y , LI Z G , GAO P . Distributed multi-robot patrolling strategy based on importance of nodes [J ] . Application Research of Computers , 2022 , 39 ( 2 ): 510 - 514 . (in Chinese)

WU Y , WU S B , HU X T . Cooperative path planning of UAVs & UGVs for a persistent surveillance task in urban environments [J ] . IEEE Internet of Things Journal , 2020 , 8 ( 6 ): 4906 - 4919 . DOI: 10.1109/JIoT.6488907 http://doi.org/10.1109/JIoT.6488907 https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6488907 https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6488907

WU Y , WU S B , HU X T . Multi-constrained cooperative path planning of multiple drones for persistent surveillance in urban environments [J ] . Complex & Intelligent Systems , 2021 , 7 : 1633 - 1647 .

NIGAM N , KROO I . Control and design of multiple unmanned air vehicles for a persistent surveillance task [C ] //Proceedings of the 12nd AIAA/ISSMO Multidisciplinary Analysis and Optimization Conference. Victoria, British Columbia, Canada:AIAA , 2008 : 5913 .

NIGAM N , BIENIAWSKI S , KROO I , et al. Control of multiple UAVs for persistent surveillance: algorithm and flight test results [J ] . IEEE Transactions on Control Systems Technology , 2011 , 20 ( 5 ): 1236 - 1251 . DOI: 10.1109/TCST.2011.2167331 http://doi.org/10.1109/TCST.2011.2167331 http://ieeexplore.ieee.org/document/6045299/ http://ieeexplore.ieee.org/document/6045299/

NIGAM N . The multiple unmanned air vehicle persistent surveillance problem: a review [J ] . Machines , 2014 , 2 ( 1 ): 13 - 72 . DOI: 10.3390/machines2010013 http://doi.org/10.3390/machines2010013 http://www.mdpi.com/2075-1702/2/1/13 http://www.mdpi.com/2075-1702/2/1/13

SEMPE F . Auto-organisation d'une collectivité de robots: application à l'activité de patrouille en présence de perturbations[D].Paris ,France:University of Paris 6, 2004 .

SEMPE F , DROGOUL A . Adaptive patrol for a group of robots [C ] //Proceedings of 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS 2003)(Cat. No. 03CH37453).Las Vegas,NV,US:IEEE , 2003 , 3 : 2865 - 2869 .

CHU H N , GLAD A , SIMONIN O , et al . Swarm approaches for the patrolling problem, informationpropagation vs. pheromone evaporation [C ] //Proceedings of the 19th IEEE International Conference on Tools with Artificial Intelligence.Patras, Greece:IEEE , 2007 , 1 : 442 - 449 .

ALAM T , RAHMAN M M , CARRILLO P , et al . Stochastic multi-robot patrolling with limited visibility [J ] . Journal of Intelligent & Robotic Systems , 2020 , 97 : 411 - 429 .

ALMEIDA A L , CASTRO P M , MENEZES T R , et al . Combining idleness and distance to design heuristic agents for the patrolling task [C ] //Proceedings of II Brazilian Workshop in Games and Digital Entertainment.Salvador , Brazil : Brazilian Computer Society , 2003 : 33 - 40 .

PORTUGAL D , ROCHA R P . Multi-robot patrolling algorithms:examining performance and scalability [J ] . Advanced Robotics , 2013 , 27 ( 5 ): 325 - 336 . DOI: 10.1080/01691864.2013.763722 http://doi.org/10.1080/01691864.2013.763722 http://www.tandfonline.com/doi/abs/10.1080/01691864.2013.763722 http://www.tandfonline.com/doi/abs/10.1080/01691864.2013.763722

欧阳鑫玉 , 杨曙光 . 基于势场栅格法的移动机器人避障路径规划 [J ] . 控制工程 , 2014 , 21 ( 1 ): 134 - 137 .

OUYANG X Y , YANG S G . Obstacle avoidance path planning of mobile robots based on potential grid method [J ] . Control Engineering of China , 2014 , 21 ( 1 ): 134 - 137 . (in Chinese)

MACHADO A , RAMALHO G , ZUCKER J , et al. Multi-agent patrolling:an empirical analysis of alternative architectures [C ] //Proceedings of International Workshop on Multi-Agent Systems and Agent-based Simulation. Berlin, Germany:Springer , 2002 : 155 - 170 .