An Optimal Control Approach to the Persistent Monitoring Problem

Christos. G. Cassandras; Xuchao Lin; Xu Chu Ding

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arXiv · 1202.6110

An Optimal Control Approach to the Persistent Monitoring Problem

Christos. G. Cassandras·Xuchao Lin·Xu Chu Ding

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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 nodes to minimize an uncertainty metric in a given mission space. For multi agent in a one-dimensional mission space, we show that the optimal solution is obtained in terms of a sequence of switching locations and waiting time on these switching points, 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.

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BibTeX RIS

Christos. G. Cassandras, Xuchao Lin, Xu Chu Ding. 2012-02-28. An Optimal Control Approach to the Persistent Monitoring Problem. https://arxiv.org/abs/1202.6110

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