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

Shirantha Welikala; Christos G. Cassandras

doi:10.1109/CDC45484.2021.9682867

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

Shirantha Welikala
, Christos G. Cassandras

Department of Electrical and Computer Engineering

Boston University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 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 language	English
Title of host publication	60th IEEE Conference on Decision and Control, CDC 2021
Pages	1898-1904
Number of pages	7
ISBN (Electronic)	9781665436595
DOIs	https://doi.org/10.1109/CDC45484.2021.9682867
State	Published - 2021
Event	60th IEEE Conference on Decision and Control, CDC 2021 - Austin, United States Duration: 13 Dec 2021 → 17 Dec 2021

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
Volume	2021-December
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Conference

Conference	60th IEEE Conference on Decision and Control, CDC 2021
Country/Territory	United States
City	Austin
Period	13/12/21 → 17/12/21

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Access to Document

10.1109/CDC45484.2021.9682867

Cite this

@inproceedings{c67ccfd9988c4d2db3d260d3cb503e63,

title = "Event-Driven Receding Horizon Control of Energy-Aware Dynamic Agents for Distributed Persistent Monitoring",

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.",

author = "Shirantha Welikala and Cassandras, \{Christos G.\}",

note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 60th IEEE Conference on Decision and Control, CDC 2021 ; Conference date: 13-12-2021 Through 17-12-2021",

year = "2021",

doi = "10.1109/CDC45484.2021.9682867",

language = "English",

series = "Proceedings of the IEEE Conference on Decision and Control",

pages = "1898--1904",

booktitle = "60th IEEE Conference on Decision and Control, CDC 2021",

}

Welikala, S & Cassandras, CG 2021, Event-Driven Receding Horizon Control of Energy-Aware Dynamic Agents for Distributed Persistent Monitoring. in 60th IEEE Conference on Decision and Control, CDC 2021. Proceedings of the IEEE Conference on Decision and Control, vol. 2021-December, pp. 1898-1904, 60th IEEE Conference on Decision and Control, CDC 2021, Austin, United States, 13/12/21. https://doi.org/10.1109/CDC45484.2021.9682867

Event-Driven Receding Horizon Control of Energy-Aware Dynamic Agents for Distributed Persistent Monitoring. / Welikala, Shirantha; Cassandras, Christos G.
60th IEEE Conference on Decision and Control, CDC 2021. 2021. p. 1898-1904 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2021-December).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Event-Driven Receding Horizon Control of Energy-Aware Dynamic Agents for Distributed Persistent Monitoring

AU - Welikala, Shirantha

AU - Cassandras, Christos G.

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 - https://www.scopus.com/pages/publications/85126051821

UR - https://www.scopus.com/pages/publications/85126051821#tab=citedBy

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 -

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

Abstract

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Conference

UN SDGs

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