Proximal operators for multi-agent path planning

We address the problem of planning collision-free paths for multiple agents using optimization methods known as proximal algorithms. Recently this approach was explored in Bento et al. 2013, which demonstrated its ease of parallelization and decentralization, the speed with which the algorithms generate good quality solutions, and its ability to incorporate different proximal operators, each ensuring that paths satisfy a desired property. Unfortunately, the operators derived only apply to paths in 2D and require that any intermediate waypoints we might want agents to follow be preassigned to specific agents, limiting their range of applicability. In this paper we resolve these limitations. We introduce new operators to deal with agents moving in arbitrary dimensions that are faster to compute than their 2D predecessors and we introduce landmarks, space-time positions that are automatically assigned to the set of agents under different optimality criteria. Finally, we report the performance of the new operators in several numerical experiments.Comment: See movie at http://youtu.be/gRnsjd_ocx

SQG-Differential Evolution for difficult optimization problems under a tight function evaluation budget

In the context of industrial engineering, it is important to integrate efficient computational optimization methods in the product development process. Some of the most challenging simulation-based engineering design optimization problems are characterized by: a large number of design variables, the absence of analytical gradients, highly non-linear objectives and a limited function evaluation budget. Although a huge variety of different optimization algorithms is available, the development and selection of efficient algorithms for problems with these industrial relevant characteristics, remains a challenge. In this communication, a hybrid variant of Differential Evolution (DE) is introduced which combines aspects of Stochastic Quasi-Gradient (SQG) methods within the framework of DE, in order to improve optimization efficiency on problems with the previously mentioned characteristics. The performance of the resulting derivative-free algorithm is compared with other state-of-the-art DE variants on 25 commonly used benchmark functions, under tight function evaluation budget constraints of 1000 evaluations. The experimental results indicate that the new algorithm performs excellent on the 'difficult' (high dimensional, multi-modal, inseparable) test functions. The operations used in the proposed mutation scheme, are computationally inexpensive, and can be easily implemented in existing differential evolution variants or other population-based optimization algorithms by a few lines of program code as an non-invasive optional setting. Besides the applicability of the presented algorithm by itself, the described concepts can serve as a useful and interesting addition to the algorithmic operators in the frameworks of heuristics and evolutionary optimization and computing