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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 problemwhen themovement of the targets is restricted to a planar graph. It is argued how this new configuration 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.

Busca Hill-Climbing Modificada aplicada à Observação de Alvos Cooperativos (CTO) movendo-se sobre um Grafo Planar