Event-Driven Receding Horizon Control of Energy-Aware Dynamic Agents for Distributed Persistent Monitoring

Shirantha Welikala, Christos G. Cassandras

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publication60th IEEE Conference on Decision and Control, CDC 2021
Pages1898-1904
Number of pages7
ISBN (Electronic)9781665436595
DOIs
StatePublished - 2021
Event60th IEEE Conference on Decision and Control, CDC 2021 - Austin, United States
Duration: 13 Dec 202117 Dec 2021

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume2021-December
ISSN (Print)0743-1546
ISSN (Electronic)2576-2370

Conference

Conference60th IEEE Conference on Decision and Control, CDC 2021
Country/TerritoryUnited States
CityAustin
Period13/12/2117/12/21

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