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| Study on Optimal Persistent Monitoring for First-order Heterogeneous Agents |
| LU Kangkang, SONG Yunzhong
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| School of Electrical Engineering and Automation, Henan Polytechnic University, Jiaozuo 454003, China |
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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.
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Published: 15 September 2026
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