Reward-Lifetime Scheduling Approach to the Autonomous Spacecraft Power Management Problem

B = set of bus subsystem indices Dk = total amount of battery capacity discharged at the kth scheduling time step d = discharge vector dj = amount of battery capacity discharged by the jth mode f = vectorized generic function f = generic function i, j, k = generic indices I = set of the number of operating modes for each subsystem K, L = generic constants M = set of discrete times over a mission cycle mi = number of operating modes for the ith subsystem nSC = number of spacecraft subsystems P = set of payload subsystem indices p = index denoting the number of the payload subsystem Qk = number of prunings at the kth scheduling time step qj = amount of power consumed by the jth mode Rk = total amount of reward at the kth scheduling time step r = reward vector rj = amount of reward associated with the jth mode S = set of state vectors over the mission cycle s u = size of an object u tk = kth scheduling time step V = battery voltage v u = value of an object u X = field of state vectors xk = state vector at the kth scheduling time step xj = state of the jth mode Z = field of positive integers = th simulation time step = final time step index 8 = for each 2 = an element of