TY - GEN
T1 - Event-Driven Receding Horizon Control of Energy-Aware Dynamic Agents for Distributed Persistent Monitoring
AU - Welikala, Shirantha
AU - Cassandras, Christos G.
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - This paper addresses the persistent monitoring problem defined on a network where a set of nodes (targets) needs to be monitored by a team of dynamic energy-aware agents. The objective is to control the agents' motion to jointly optimize the overall agent energy consumption and a measure of overall node state uncertainty, evaluated over a finite period of interest. To achieve these objectives, we extend an established event-driven Receding Horizon Control (RHC) solution by adding an optimal controller to account for agent motion dynamics and associated energy consumption. The resulting RHC solution is computationally efficient, distributed and on-line. Finally, numerical results are provided highlighting improvements compared to an existing RHC solution that uses energy-agnostic first-order agents.
AB - This paper addresses the persistent monitoring problem defined on a network where a set of nodes (targets) needs to be monitored by a team of dynamic energy-aware agents. The objective is to control the agents' motion to jointly optimize the overall agent energy consumption and a measure of overall node state uncertainty, evaluated over a finite period of interest. To achieve these objectives, we extend an established event-driven Receding Horizon Control (RHC) solution by adding an optimal controller to account for agent motion dynamics and associated energy consumption. The resulting RHC solution is computationally efficient, distributed and on-line. Finally, numerical results are provided highlighting improvements compared to an existing RHC solution that uses energy-agnostic first-order agents.
UR - http://www.scopus.com/inward/record.url?scp=85126051821&partnerID=8YFLogxK
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U2 - 10.1109/CDC45484.2021.9682867
DO - 10.1109/CDC45484.2021.9682867
M3 - Conference contribution
AN - SCOPUS:85126051821
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 1898
EP - 1904
BT - 60th IEEE Conference on Decision and Control, CDC 2021
T2 - 60th IEEE Conference on Decision and Control, CDC 2021
Y2 - 13 December 2021 through 17 December 2021
ER -