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

被引:4
|
作者
Welikala, Shirantha [1 ,2 ]
Cassandras, Christos G. [1 ,2 ]
机构
[1] Boston Univ, Div Syst Engn, Brookline, MA 02445 USA
[2] Boston Univ, Ctr Informat & Syst Engn, Brookline, MA 02445 USA
关键词
D O I
10.1109/CDC45484.2021.9682867
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
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.
引用
收藏
页码:1898 / 1904
页数:7
相关论文
共 50 条
  • [1] Event-Driven Receding Horizon Control For Distributed Persistent Monitoring on Graphs
    Welikala, Shirantha
    Cassandras, Christos G.
    [J]. 2020 59TH IEEE CONFERENCE ON DECISION AND CONTROL (CDC), 2020, : 92 - 97
  • [2] Event-driven receding horizon control for distributed persistent monitoring in network systems?
    Welikala, Shirantha
    Cassandras, Christos G.
    [J]. AUTOMATICA, 2021, 127
  • [3] Event-Driven Receding Horizon Control for Distributed Estimation in Network Systems
    Welikala, Shirantha
    Cassandras, Christos G.
    [J]. 2021 AMERICAN CONTROL CONFERENCE (ACC), 2021, : 1559 - 1564
  • [4] Distributed Estimation in Network Systems Using Event-Driven Receding Horizon Control
    Welikala, Shirantha
    Cassandras, Christos G.
    [J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2023, 68 (09) : 5381 - 5396
  • [5] Event-driven receding horizon control for energy-efficient container handling
    Xin, Jianbin
    Negenborn, Rudy R.
    Lodewijks, Gabriel
    [J]. CONTROL ENGINEERING PRACTICE, 2015, 39 : 45 - 55
  • [6] A receding horizon event-driven control strategy for intelligent traffic management
    Walter Lucia
    Giuseppe Franzè
    Domenico Famularo
    [J]. Discrete Event Dynamic Systems, 2021, 31 : 469 - 488
  • [7] A receding horizon event-driven control strategy for intelligent traffic management
    Lucia, Walter
    Franze, Giuseppe
    Famularo, Domenico
    [J]. DISCRETE EVENT DYNAMIC SYSTEMS-THEORY AND APPLICATIONS, 2021, 31 (03): : 469 - 488
  • [8] Optimization of Ride Sharing Systems Using Event-driven Receding Horizon Control
    Chen, Rui
    Cassandras, Christos G.
    [J]. IFAC PAPERSONLINE, 2020, 53 (04): : 411 - 416
  • [9] An Energy-Aware Approach for Event-Driven Multimedia Data Acquisition in WMSNs
    Phan Van Vinh
    Oh, Hoon
    [J]. INDUSTRIAL NETWORKS AND INTELLIGENT SYSTEMS, INISCOM 2017, 2018, 221 : 131 - 141
  • [10] Event-Driven Cooperative Receding Horizon Control for Multi-Agent Systems in Uncertain Environments
    Khazaeni, Yasaman
    Cassandras, Christos G.
    [J]. IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS, 2018, 5 (01): : 409 - 422