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Robots have a finite supply of resources such as fuel, battery charge, and storage space. The aim of the Stochastic Collection and Replenishment (SCAR) scenario is to use dedicated agents to refuel, recharge, or otherwise replenish robots in the field to facilitate persistent autonomy. This paper explores the optimisation of the SCAR scenario with a single replenishment agent, using several different...
This paper introduces two objective functions for computing the expected cost in the Stochastic Collection and Replenishment (SCAR) scenario. In the SCAR scenario, multiple user agents have a limited supply of a resource that they either use or collect, depending on the scenario. To enable persistent autonomy, dedicated replenishment agents travel to the user agents and replenish or collect their...
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