Persistent monitoring in discrete environments: Minimizing the maximum weighted latency between observations

@article{Alamdari2014PersistentMI,
  title={Persistent monitoring in discrete environments: Minimizing the maximum weighted latency between observations},
  author={Soroush Alamdari and Elaheh Fata and Stephen L. Smith},
  journal={I. J. Robotics Res.},
  year={2014},
  volume={33},
  pages={138-154}
}
In this paper, we consider the problem of planning a path for a robot to monitor a known set of features of interest in an environment. We represent the environment as a graph with vertex weights and edge lengths. The vertices represent regions of interest, edge lengths give travel times between regions, and the vertex weights give the importance of each region. As the robot repeatedly performs a closed walk on the graph, we define the weighted latency of a vertex to be the maximum time between… CONTINUE READING
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