Reduced State Value Iteration for Multi-Drone Persistent Surveillance with Charging Constraints
Patrick H. Washington,Mac Schwager,Patrick H. Washington,Mac Schwager
This paper presents Reduced State Value Iteration (RSVI), an algorithm to compute policies for Markov Decision Processes (MDPs) that have natural checkpoints, allowing for a solution based on a reduced state space. The algorithm is applied to find policies for multiple drones to persistently surveil an environment subject to charging constraints. RSVI leverages the structure of the true MDP to bui...
