An Optimal Control Approach for the Persistent Monitoring Problem

Christos G. Cassandras; Xu Chu Ding; Xuchao Lin

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arXiv · 1108.3221

An Optimal Control Approach for the Persistent Monitoring Problem

Christos G. Cassandras·Xu Chu Ding·Xuchao Lin

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Abstract

We propose an optimal control framework for persistent monitoring problems where the objective is to control the movement of mobile agents to minimize an uncertainty metric in a given mission space. For a single agent in a one-dimensional space, we show that the optimal solution is obtained in terms of a sequence of switching locations, thus reducing it to a parametric optimization problem. Using Infinitesimal Perturbation Analysis (IPA) we obtain a complete solution through a gradient-based algorithm. We also discuss a receding horizon controller which is capable of obtaining a near-optimal solution on-the-fly. We illustrate our approach with numerical examples.

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BibTeX RIS

Christos G. Cassandras, Xu Chu Ding, Xuchao Lin. 2011-08-16. An Optimal Control Approach for the Persistent Monitoring Problem. https://arxiv.org/abs/1108.3221

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