Approximation Schemes for Age of Information Minimization in UAV Grid Patrols

Abstract

Motivated by the critical need for unmanned aerial vehicles (UAVs) to patrol grid systems in hazardous and dynamically changing environments, this study addresses a routing problem aimed at minimizing the time-average Age of Information (AoI) for edges in general graphs. We establish a lower bound for all feasible patrol policies and demonstrate that this bound is tight when the graph contains an Eulerian cycle. For graphs without Eulerian cycles, it becomes challenging to identify the optimal patrol strategy due to the extensive range of feasible options. Our analysis shows that restricting the strategy to periodic sequences still results in an exponentially large number of possible strategies. To address this complexity, we introduce two polynomial-time approximation schemes, each involving a two-step process: constructing multigraphs first and then embedding Eulerian cycles within these multigraphs. We prove that both schemes achieve an approximation ratio of 2. Further, both analytical and numerical results suggest that evenly and sparsely distributing edge visits within a periodic route significantly reduces the average AoI compared to strategies that merely minimize the route travel distance. Building on this insight, we propose a heuristic method that not only maintains the approximation ratio of 2 but also ensures robust performance across varying random graphs.