ABSTRACT
In the Cooperative Targets Observation (CTO) problem, a group
of observing agents with limited vision should be commanded in
order to keep the observation of multiple target agents in motion in
order to maximize the average number of targets observed during
the period under consideration. Targets are cooperative in the sense
that they do not run away from observers. This article describes and
evaluates the application of a modified Hill-Climbing algorithm to
the CTO problem when the movement of the targets is restricted to a
planar graph. It is argued howthis newconfiguration of the problem
can be representative of a practical situation. The performance of
the proposed algorithm surpasses that of two other algorithms
widely applied to the problem that are classic Hill-Climbing and
K-Means.