1,224 research outputs found

    Persistent Monitoring of Events with Stochastic Arrivals at Multiple Stations

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    This paper introduces a new mobile sensor scheduling problem, involving a single robot tasked with monitoring several events of interest that occur at different locations. Of particular interest is the monitoring of transient events that can not be easily forecast. Application areas range from natural phenomena ({\em e.g.}, monitoring abnormal seismic activity around a volcano using a ground robot) to urban activities ({\em e.g.}, monitoring early formations of traffic congestion using an aerial robot). Motivated by those and many other examples, this paper focuses on problems in which the precise occurrence times of the events are unknown {\em a priori}, but statistics for their inter-arrival times are available. The robot's task is to monitor the events to optimize the following two objectives: {\em (i)} maximize the number of events observed and {\em (ii)} minimize the delay between two consecutive observations of events occurring at the same location. The paper considers the case when a robot is tasked with optimizing the event observations in a balanced manner, following a cyclic patrolling route. First, assuming the cyclic ordering of stations is known, we prove the existence and uniqueness of the optimal solution, and show that the optimal solution has desirable convergence and robustness properties. Our constructive proof also produces an efficient algorithm for computing the unique optimal solution with O(n)O(n) time complexity, in which nn is the number of stations, with O(logn)O(\log n) time complexity for incrementally adding or removing stations. Except for the algorithm, most of the analysis remains valid when the cyclic order is unknown. We then provide a polynomial-time approximation scheme that gives a (1+ϵ)(1+\epsilon)-optimal solution for this more general, NP-hard problem

    Optimal Event-Driven Multi-Agent Persistent Monitoring of a Finite Set of Targets

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    We consider the problem of controlling the movement of multiple cooperating agents so as to minimize an uncertainty metric associated with a finite number of targets. In a one-dimensional mission space, we adopt an optimal control framework and show that the solution is reduced to a simpler parametric optimization problem: determining a sequence of locations where each agent may dwell for a finite amount of time and then switch direction. This amounts to a hybrid system which we analyze using Infinitesimal Perturbation Analysis (IPA) to obtain a complete on-line solution through an event-driven gradient-based algorithm which is also robust with respect to the uncertainty model used. The resulting controller depends on observing the events required to excite the gradient-based algorithm, which cannot be guaranteed. We solve this problem by proposing a new metric for the objective function which creates a potential field guaranteeing that gradient values are non-zero. This approach is compared to an alternative graph-based task scheduling algorithm for determining an optimal sequence of target visits. Simulation examples are included to demonstrate the proposed methods.Comment: 12 pages full version, IEEE Conference on Decision and Control, 201

    Local, Regional, and Remote Seismo‐Acoustic Observations of the April 2015 VEI 4 Eruption of Calbuco Volcano, Chile

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    The two major explosive phases of the 22–23 April 2015 eruption of Calbuco volcano, Chile, produced powerful seismicity and infrasound. The eruption was recorded on seismo-acoustic stations out to 1,540 km and on five stations (IS02, IS08, IS09, IS27, and IS49) of the International Monitoring System (IMS) infrasound network at distances from 1,525 to 5,122 km. The remote IMS infrasound stations provide an accurate explosion chronology consistent with the regional and local seismo-acoustic data and with previous studies of lightning and plume observations. We use the IMS network to detect and locate the eruption signals using a brute-force, grid-search, cross-bearings approach. After incorporating azimuth deviation corrections from stratospheric crosswinds using 3-D ray tracing, the estimated source location is 172 km from true. This case study highlights the significant capability of the IMS infrasound network to provide automated detection, characterization, and timing estimates of global explosive volcanic activity. Augmenting the IMS with regional seismo-acoustic networks will dramatically enhance volcanic signal detection, reduce latency, and improve discrimination capability
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