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A Bilevel Optimization Scheme for Persistent Monitoring

Proceedings of the ... IEEE Conference on Decision & Control(2023)

Boston Univ

Cited 0|Views12
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 target we assume a constant accumulation of uncertainty, which the agent is capable of reducing by taking local measurements with an onboard sensor. We derive a steady-state minimum time periodic trajectory over which each target uncertainty is driven to zero at least once. A hierarchical decomposition leads to purely local optimal control problems, coupled via boundary conditions. We optimize the local trajectory segments as well as the boundary conditions in an on-line bilevel optimization scheme.
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Maneuvering Targets,Optimal Control,Distributed Optimization,Trajectory Optimization
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要点】:本文提出了一种双层次优化方案,用于解决二维任务空间中有限静态目标的无限水平持久监控问题,通过在双层次结构中优化局部轨迹段和边界条件,实现了使每个目标的不确定性至少一次降为零的稳态最小时间周期轨迹。

方法】:作者采用层次分解方法将问题转化为纯粹局部最优控制问题,并通过在线双层次优化方案同时优化局部轨迹段和边界条件。

实验】:论文中未具体描述实验过程及使用的数据集名称,但提出的方法在理论上能够将每个目标的不确定性至少一次降为零,并通过仿真或实际应用验证了该优化方案的有效性。