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.

中文翻译：

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用于分布式持久性监视的能源敏感型动态代理的事件驱动的后备水平控制

本文解决了在网络上定义的持续监视问题，在该网络上，一组节点（目标）需要由一组动态能源感知代理进行监视。目的是控制代理程序的运动，以共同优化代理程序的整体能耗和对整个节点状态不确定性的度量，并在有限的关注期内进行评估。为了实现这些目标，我们通过添加最佳控制器来解决代理运动动态和相关的能耗问题，从而扩展了已建立的事件驱动的后视水平控制（RHC）解决方案。最终的RHC解决方案计算效率高，分布式且在线。最后，提供了数值结果，突出显示了与使用能量不可知的一阶代理的现有RHC解决方案相比的改进。