Event-driven receding horizon control for distributed persistent monitoring in network systems?

被引:12
|
作者
Welikala, Shirantha [1 ,2 ]
Cassandras, Christos G. [1 ,2 ]
机构
[1] Boston Univ, Div Syst Engn, Brookline, MA 02446 USA
[2] Boston Univ, Ctr Informat & Syst Engn, Brookline, MA 02446 USA
关键词
Multi-agent systems; Collaborative systems; Distributed control; Event-driven control; Receding horizon control; OPTIMIZATION;
D O I
10.1016/j.automatica.2021.109519
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
We address the multi-agent persistent monitoring problem defined on a set of nodes (targets) interconnected over a network topology. A measure of mean overall node state uncertainty evaluated over a finite period is to be minimized by controlling the motion of a cooperating team of agents. To address this problem, we propose an event-driven receding horizon control approach that is computationally efficient, distributed and on-line. The proposed controller differs from the existing online gradient-based parametric controllers and off-line greedy cycle search methods that often lead to either low-performing local optima or computationally intensive centralized solutions. A critical novel element in this controller is that it automatically optimizes its planning horizon length, thus making it parameter-free. We show that explicit globally optimal solutions can be obtained for every distributed optimization problem encountered at each event where the receding horizon controller is invoked. Numerical results are provided showing improvements compared to state of the art distributed on-line parametric control solutions.
引用
收藏
页数:16
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 Estimation in Network Systems
    Welikala, Shirantha
    Cassandras, Christos G.
    [J]. 2021 AMERICAN CONTROL CONFERENCE (ACC), 2021, : 1559 - 1564
  • [3] 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
  • [4] Event-Driven Receding Horizon Control of Energy-Aware Dynamic Agents for Distributed Persistent Monitoring
    Welikala, Shirantha
    Cassandras, Christos G.
    [J]. 2021 60TH IEEE CONFERENCE ON DECISION AND CONTROL (CDC), 2021, : 1898 - 1904
  • [5] Optimization of Ride Sharing Systems Using Event-driven Receding Horizon Control
    Chen, Rui
    Cassandras, Christos G.
    [J]. IFAC PAPERSONLINE, 2020, 53 (04): : 411 - 416
  • [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] 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
  • [9] Optimal Assignments in Mobility-on-Demand Systems Using Event-Driven Receding Horizon Control
    Chen, Rui
    Cassandras, Christos G.
    [J]. IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, 2022, 23 (03) : 1969 - 1983
  • [10] 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