论文标题
最佳对移动目标的持续监视一维
Optimal Persistent Monitoring of Mobile Targets in One Dimension
论文作者
论文摘要
这项工作显示了在一维任务空间中对移动目标持续监视的最佳控制法律的存在，并提供了明确的解决方案。潜在的性能指标包括最大程度地减少有限任务时间内积累的总不确定性。我们首先证明可以将相应的最佳控制问题简化为有限维优化问题，然后确定最佳解决方案的存在。在此结果的促进下，我们构建了一个参数重新制定，以该重新制定为基于事件的梯度下降方法，以推导（本地最佳）解决方案的目的。我们还提供了更实用的参数化，具有吸引人的特性，例如简单，灵活性和鲁棒性。两个参数化都通过仿真验证。
This work shows the existence of optimal control laws for persistent monitoring of mobile targets in a one-dimensional mission space and derives explicit solutions. The underlying performance metric consists of minimizing the total uncertainty accumulated over a finite mission time. We first demonstrate that the corresponding optimal control problem can be reduced to a finite-dimensional optimization problem, and then establish existence of an optimal solution. Motivated by this result, we construct a parametric reformulation for which an event based gradient descent method is utilized with the goal of deriving (locally optimal) solutions. We additionally provide a more practical parameterization that has attractive properties such as simplicity, flexibility, and robustness. Both parameterizations are validated through simulation.
