Approximate optimal monitoring

The problem of continuously monitoring a region using a team of agents, for example unmanned aerial vehicles equipped with sensors, is formulated as a differential game. This allows for the use of heterogeneous agents. The differential game is approximated as a sequence of optimal control problems, for which approximate solutions are found using dynamic feedback and the notion of algebraic P̅ solution. A general form for such a solution is presented assuming the agents have single-integrator dynamics. The results can be interpreted as a trajectory plan for agents with more general dynamics. The case in which the agents have unicycle dynamics and are to track the generated trajectory plan is presented.