We consider a joint sampling and scheduling problem for optimizing data freshness in multi-source systems. Data freshness is measured by a non-decreasing penalty function of emph{age of information}, where all sources have the same age-penalty function. Sources take turns to generate update packets, and forward them to their destinations one-by-one through a shared channel with random delay. There is a scheduler, that chooses the update order of the sources, and a sampler, that determines when a source should generate a new packet in its turn. We aim to find the optimal scheduler-sampler pairs that minimize the total-average age-penalty at delivery times (Ta-APD) and the total-average age-penalty (Ta-AP). We prove that the Maximum Age First (MAF) scheduler and the zero-wait sampler are jointly optimal for minimizing the Ta-APD. Meanwhile, the MAF scheduler and a relative value iteration with reduced complexity (RVI-RC) sampler are jointly optimal for minimizing the Ta-AP. The RVI-RC sampler is based on a relative value iteration algorithm whose complexity is reduced by exploiting a threshold property in the optimal sampler. Finally, a low-complexity threshold-type sampler is devised via an approximate analysis of Bellmans equation. This threshold-type sampler reduces to a simple water-filling sampler for a linear age-penalty function.
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