A Bilevel Optimization Scheme for Persistent Monitoring

In this paper we study an infinitehorizon persistent monitoring problem in a twodimensional 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.