为解决同构智能体在持续监控系统中缺乏灵活性问题,及探究传感器模型对系统的影响,提出了一种异构智能体的最优持续监控方案。首先建立了一个最优控制框架,采用极小值原理推导出最优控制策略的必要条件,将原问题转化为参数优化问题,之后运用无穷小扰动分析理论求解出目标函数关于参数的梯度,最终运用下降梯度法得到最优控制参数。结果表明,异构智能体具有比较好的容错性和灵活性,而不同的传感器模型虽然会对目标函数产生影响,但并未改变最优轨迹的特性。
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.
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