Abstract：To address the issue of limited flexibility in homogeneous agents within persistent monitoring systems and to investigate the impact of sensor models on system performance, this study proposes an optimal persistent monitoring scheme based on heterogeneous agents. First, an optimal control framework is established, and the necessary conditions for the optimal control strategy are derived using the minimum principle, transforming the original problem into a parameter optimization problem. Subsequently, the infinitesimal perturbation analysis method is applied to calculate the gradient of the objective function with respect to the parameters, and the optimal control parameters are obtained through the gradient descent method. The results demonstrate that heterogeneous agents exhibit superior fault tolerance and flexibility compared to homogeneous agents. Although different sensor models influence the objective function, they do not alter the fundamental characteristics of the optimal trajectory.
卢康康, 宋运忠. 一阶异构智能体的最优持续监控问题研究[J]. 复杂系统与复杂性科学, 2026, 23(4): 99-107.
LU Kangkang, SONG Yunzhong. Study on Optimal Persistent Monitoring for First-order Heterogeneous Agents[J]. Complex Systems and Complexity Science, 2026, 23(4): 99-107.
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