Persistent monitoring of events with stochastic arrivals at multiple stations

Jingjin Yu, Sertac Karaman, Daniela Rus

Research output: Contribution to journalConference articlepeer-review

6 Scopus citations


This paper is concerned with a novel 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 events That can not be easily forecast. Prominent examples range from natural phenomena (e.g., monitoring abnormal seismic activity around a volcano using a ground robot) To urban activities (e.g., monitoring early formations of Traffic congestion in The Boston area using an aerial robot). Motivated by These examples, This paper focuses on problems where The precise occurrence Time of The events is not known a priori, but some statistics for Their inter-Arrival Times are available from past observations. The robot's Task is To monitor The events To optimize The following Two objectives: (i) maximize The number of events observed and (ii) minimize The delay between Two consecutive observations of events occurring at The same location. Provided with only one robot, it is crucial To optimize These objectives in a balanced way, so That They are optimized at each station simultaneously. Our main Theoretical result is That This complex mobile sensor scheduling problem can be reduced To a quasi-convex program, which can be solved in polynomial Time. In other words, a globally optimal solution can be computed in Time That is polynomial in The number of locations. We also provide computational experiments That validate our Theoretical results.

Original languageEnglish (US)
Article number6907705
Pages (from-to)5758-5765
Number of pages8
JournalProceedings - IEEE International Conference on Robotics and Automation
StatePublished - Sep 22 2014
Externally publishedYes
Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
Duration: May 31 2014Jun 7 2014

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Persistent monitoring of events with stochastic arrivals at multiple stations'. Together they form a unique fingerprint.

Cite this