Persistent Monitoring of Events with Stochastic Arrivals at Multiple Stations

Abstract

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 $O(n)$ time complexity, in which $n$ is the number of stations, with $O(\log n)$ 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 $(1+\epsilon)$-optimal solution for this more general, NP-hard problem