Optimal foraging of renewable resources
Name
Frazzoli_Optimal foraging.pdf
Size
660.38 KB
Format
Adobe PDF
Checksum (MD5)
c68d486d6dc741a7490c7c6da761895a
Author(s)
Enright, John J.
Frazzoli, Emilio
Date Issued
June 2012
Journal
Proceedings of the 2012 American Control Conference
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Enright, John J. and Emilio Frazzoli. "Optimal foraging of renewable resources." IEEE American Control Conference, 2012.
Version
Original manuscript
Abstract
Consider a team of agents in the plane searching for and visiting target points that appear in a bounded environment, according to a stochastic renewal process with a known absolutely continuous spatial distribution. Agents must detect targets with limited-range onboard sensors. It is desired to minimize the expected waiting time between the appearance of a target point, and the instant it is visited. When the sensing radius is small, the system time is dominated by time spent searching, and it is shown that the optimal policy requires the agents to search a region at a relative frequency proportional to the square root of its renewal rate. On the other hand, when targets appear frequently, the system time is dominated by time spent servicing known targets, and it is shown that the optimal policy requires the agents to service a region at a relative frequency proportional to the cube root of its renewal rate. Furthermore, the presented algorithms in this case recover the optimal performance achieved by agents with full information of the environment. Simulation results verify the theoretical performance of the algorithms.
Description
Original manuscript January 31, 2012
MIT Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike 3.0
Persistent DSpace Link
DOI of Published Version
http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6315638
