2023/04/07 by Jonas Håll, Logan E. Beaver, Hall, Jonas +5
Computer Science · Engineering · Immunology and Microbiology · #FOS: Mathematics #Optimization and Control (math.OC) #Optimization and Variational Analysis #Phagocytosis and Immune Regulation #Spacecraft Dynamics and Control
paper · pdf · doi:10.48550/arxiv.2304.03667
openalex publication_date 2023/04/07 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
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 of which we assume a constant rate of uncertainty accumulation. Equipped with a sensor of finite range, the agent is capable of reducing the uncertainty of nearby targets. We derive a steady-state minimum time periodic trajectory over which each of the target uncertainties is driven down to zero during each visit. A hierarchical decomposition leads to purely local optimal control problems, coupled via boundary conditions. We optimize both the local trajectory segments as well as the boundary conditions in an on-line bilevel optimization scheme.