Derives AoI lower bounds separating sensing and propagation terms for multi-robot systems on graphs, solves sensing allocation optimally via greedy water-filling, and constructs a shortest-path-tree conveyor architecture proven to attain the bound under full-conveyor conditions.
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AoI-Aware Multi-Robot Sensing and Transport on Connected Graphs
Derives AoI lower bounds separating sensing and propagation terms for multi-robot systems on graphs, solves sensing allocation optimally via greedy water-filling, and constructs a shortest-path-tree conveyor architecture proven to attain the bound under full-conveyor conditions.