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arXiv · 2304.03667

A Bilevel Optimization Scheme for Persistent Monitoring

Jonas Hall·Logan E. Beaver·Christos G. Cassandras·Sean B. Andersson
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Abstract

In this paper we study an infinite-horizon persistent monitoring problem in a two-dimensional mission space containing a finite number of statically placed targets, at each of which we assume a constant rate of uncertainty accumulation. Equipped with a sensor of finite range, the agent is capable of reducing the uncertainty of nearby targets. We derive a steady-state minimum time periodic trajectory over which each of the target uncertainties is driven down to zero during each visit. A hierarchical decomposition leads to purely local optimal control problems, coupled via boundary conditions. We optimize both the local trajectory segments as well as the boundary conditions in an on-line bilevel optimization scheme.

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Jonas Hall, Logan E. Beaver, Christos G. Cassandras, Sean B. Andersson. 2023-04-07. A Bilevel Optimization Scheme for Persistent Monitoring. https://arxiv.org/abs/2304.03667

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