An Optimal Control Approach to the Persistent Monitoring Problem

Details An Optimal Control Approach to the Persistent Monitoring Problem An Optimal Control Approach to the Persistent Monitoring Problem

2012-02-28

arxiv.org/abs/1202.6110v1

Computer Science

Systems and Control

Technical Report accompanying CDC 2012 submission

Scientific paper

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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