Distributed optimization of markov reward processes

Dynamic programming provides perhaps the most natural way to model many control problems, but suffers from the fact that existing solution procedures do not scale gracefully with the size of the problem. In this work, we present a gradient- based policy search technique that exploits the fact that in many applications the state space and control actions are naturally distributed. After presenting our modeling assumptions, we introduce a technique in which a set of distributed agents compute an estimate of the partial derivative of a system-wide objective with respect to the parameters under their control and use it in a gradient-based policy search procedure. We illustrate the algorithm with an application to energy-efficient coverage in energy harvesting sensor networks. The resulting algorithm can be implemented using only local information available to the sensors, and is therefore fully scalable. Our numerical results are encouraging and allow us to conjecture the usefulness of our approach.