Event-Driven Trajectory Optimization for Data Harvesting in Multiagent Systems

We propose a new event-driven method for online trajectory optimization to solve the data harvesting problem: in a 2-D mission space, N mobile agents are tasked with the collection of data generated at M stationary sources and delivery to a base with the goal of minimizing expected collection and de...

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Bibliographic Details
Published in:IEEE transactions on control of network systems 2018-09, Vol.5 (3), p.1335-1348
Main Authors: Khazaeni, Yasaman, Cassandras, Christos G.
Format: Article
Language:English
Subjects:
Agents (artificial intelligence)
Data collection
Data harvesting
event-driven optimization
Fourier series
Harvesting
Hybrid systems
infinitesimal perturbation analysis
Mobile agents
Multiagent systems
Optimal control
Parameterization
Perturbation methods
Random processes
Robustness
Topology
Trajectory optimization
trajectory planning
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Summary:We propose a new event-driven method for online trajectory optimization to solve the data harvesting problem: in a 2-D mission space, N mobile agents are tasked with the collection of data generated at M stationary sources and delivery to a base with the goal of minimizing expected collection and delivery delays. We define a new performance measure that addresses the event excitation problem in event-driven controllers and formulate an optimal control problem. The solution of this problem provides some insight on its structure, but it is computationally intractable, especially in the case where the data generating processes are stochastic. We propose an agent trajectory parameterization in terms of general function families, which can be subsequently optimized online through the use of infinitesimal perturbation analysis. Properties of the solutions are identified, including robustness with respect to the stochastic data generation process and scalability in the size of the event set characterizing the underlying hybrid dynamical system. Explicit results are provided for the case of elliptical and Fourier series trajectories, and comparisons with a state-of-the-art graph-based algorithm are given.
ISSN:2325-5870
2372-2533
DOI:10.1109/TCNS.2017.2707920