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Our goal is to design distributed coordination strategies that enable agentsto achieve global performance guarantees while minimizing the energy cost oftheir actions with an emphasis on feasibility for real-time implementation. Asa motivating scenario that illustrates the importance of introducing energyawareness at the agent level, we consider a team of mobile nodes that areassigned the task of establishing a communication link between two basestations with minimum energy consumption. We formulate this problem as adynamic program in which the total cost of each agent is the sum of bothmobility and communication costs. To ensure that the solution is distributedand real time implementable, we propose multiple suboptimal policies based onthe concepts of approximate dynamic programming. To provide performanceguarantees, we compute upper bounds on the performance gap between the proposedsuboptimal policies and the global optimal policy. Finally, we discuss meritsand demerits of the proposed policies and compare their performance usingsimulations.

Energy Aware Architecture for Coordinated Mobility: An Approximate Dynamic Programming Approach