Robot task switching under diminishing returns

Authors:
Jens Wawerla;Richard T. Vaughan
Affiliations:
Simon Fraser University, School of Computing Science, Burnaby, BC, Canada;Simon Fraser University, School of Computing Science, Burnaby, BC, Canada
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

Citing 6
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Abstract

We investigate the problem of a robot maximizing its long-term average rate of return on work. We present a means to obtain an estimate of the instantaneous rate of return when work is rewarded in discrete atoms, and a method that uses this to recursively maximize the long-term average return when work is available in localized patches, each with locally diminishing returns. We examine a puck-foraging scenario, and test our method in simulation under a variety of conditions. However, the analysis and approach applies to the general case.