A Global Optimisation Toolbox for Massively Parallel Engineering Optimisation

A software platform for global optimisation, called PaGMO, has been developed within the Advanced Concepts Team (ACT) at the European Space Agency, and was recently released as an open-source project. PaGMO is built to tackle high-dimensional global optimisation problems, and it has been successfully used to find solutions to real-life engineering problems among which the preliminary design of interplanetary spacecraft trajectories - both chemical (including multiple flybys and deep-space maneuvers) and low-thrust (limited, at the moment, to single phase trajectories), the inverse design of nano-structured radiators and the design of non-reactive controllers for planetary rovers. Featuring an arsenal of global and local optimisation algorithms (including genetic algorithms, differential evolution, simulated annealing, particle swarm optimisation, compass search, improved harmony search, and various interfaces to libraries for local optimisation such as SNOPT, IPOPT, GSL and NLopt), PaGMO is at its core a C++ library which employs an object-oriented architecture providing a clean and easily-extensible optimisation framework. Adoption of multi-threaded programming ensures the efficient exploitation of modern multi-core architectures and allows for a straightforward implementation of the island model paradigm, in which multiple populations of candidate solutions asynchronously exchange information in order to speed-up and improve the optimisation process. In addition to the C++ interface, PaGMO's capabilities are exposed to the high-level language Python, so that it is possible to easily use PaGMO in an interactive session and take advantage of the numerous scientific Python libraries available.Comment: To be presented at 'ICATT 2010: International Conference on Astrodynamics Tools and Techniques

Makespan Minimization of Machines and Automated Guided Vehicles Schedule Using Binary Particle Swarm Optimization

An efficient and optimized Automated Guided Vehicles (AGVs) operation plays a critical role in improving the performance of a Flexible Manufacturing System (FMS). Among the main elements in the implementation of AGV is task scheduling. This is due to the fact that efficient scheduling would enable the increment of productivity and reducing delivery cost whilst optimally utilizes the entire fleet. In this research, Binary Particle Swarm Optimization (BPSO) is used to optimize simultaneous machines and AGVs scheduling process with makespan minimization function. It is proven that the method is capable to provide better solution compared to others

Data-Driven Predictive Modeling to Enhance Search Efficiency of Glowworm-Inspired Robotic Swarms in Multiple Emission Source Localization Tasks

In time-sensitive search and rescue applications, a team of multiple mobile robots broadens the scope of operational capabilities. Scaling multi-robot systems (\u3c 10 agents) to larger robot teams (10 – 100 agents) using centralized coordination schemes becomes computationally intractable during runtime. One solution to this problem is inspired by swarm intelligence principles found in nature, offering the benefits of decentralized control, fault tolerance to individual failures, and self-organizing adaptability. Glowworm swarm optimization (GSO) is unique among swarm-based algorithms as it simultaneously focuses on searching for multiple targets. This thesis presents GPR-GSO—a modification to the GSO algorithm that incorporates Gaussian Process Regression (GPR) based data-driven predictive modeling—to improve the search efficiency of robotic swarms in multiple emission source localization tasks. The problem formulation and methods are presented, followed by numerical simulations to illustrate the working of the algorithm. Results from a comparative analysis show that the GPR-GSO algorithm exceeds the performance of the benchmark GSO algorithm on evaluation metrics of swarm size, search completion time, and travel distance

Deep Reinforcement Learning for Swarm Systems

Recently, deep reinforcement learning (RL) methods have been applied successfully to multi-agent scenarios. Typically, these methods rely on a concatenation of agent states to represent the information content required for decentralized decision making. However, concatenation scales poorly to swarm systems with a large number of homogeneous agents as it does not exploit the fundamental properties inherent to these systems: (i) the agents in the swarm are interchangeable and (ii) the exact number of agents in the swarm is irrelevant. Therefore, we propose a new state representation for deep multi-agent RL based on mean embeddings of distributions. We treat the agents as samples of a distribution and use the empirical mean embedding as input for a decentralized policy. We define different feature spaces of the mean embedding using histograms, radial basis functions and a neural network learned end-to-end. We evaluate the representation on two well known problems from the swarm literature (rendezvous and pursuit evasion), in a globally and locally observable setup. For the local setup we furthermore introduce simple communication protocols. Of all approaches, the mean embedding representation using neural network features enables the richest information exchange between neighboring agents facilitating the development of more complex collective strategies.Comment: 31 pages, 12 figures, version 3 (published in JMLR Volume 20

Planning and reconfigurable control of a fleet of unmanned vehicles for taxi operations in airport environment

The optimization of airport operations has gained increasing interest by the aeronautical community, due to the substantial growth in the number of airport movements (landings and take-offs) experienced in the past decades all over the world. Forecasts have confirmed this trend also for the next decades. The result of the expansion of air traffic is an increasing congestion of airports, especially in taxiways and runways, leading to additional amount of fuel burnt by airplanes during taxi operations, causing additional pollution and costs for airlines. In order to reduce the impact of taxi operations, different solutions have been proposed in literature; the solution which this dissertation refers to uses autonomous electric vehicles to tow airplanes between parking lots and runways. Although several analyses have been proposed in literature, showing the feasibility and the effectiveness of this approach in reducing the environmental impact, at the beginning of the doctoral activity no solutions were proposed, on how to manage the fleet of unmanned vehicles inside the airport environment. Therefore, the research activity has focused on the development of algorithms able to provide pushback tractor (also referred as tugs) autopilots with conflict-free schedules. The main objective of the optimization algorithms is to minimize the tug energy consumption, while performing just-in-time runway operations: departing airplanes are delivered only when they can take-off and the taxi-in phase starts as soon as the aircraft clears the runway and connects to the tractor. Two models, one based on continuous time and one on discrete time evolution, were developed to simulate the taxi phases within the optimization scheme. A piecewise-linear model has also been proposed to evaluate the energy consumed by the tugs during the assigned missions. Furthermore, three optimization algorithms were developed: two hybrid versions of the particle swarm optimization and a tree search heuristic. The following functional requirements for the management algorithm were defined: the optimization model must be easily adapted to different airports with different layout (reconfigurability); the generated schedule must always be conflict-free; and the computational time required to process a time horizon of 1h must be less than 15min. In order to improve its performance, the particle swarm optimization was hybridized with a hill-climb meta-heuristic; a second hybridization was performed by means of the random variable search, an algorithm of the family of the variable neighborhood search. The neighborhood size for the random variable search was considered varying with inverse proportionality to the distance between the actual considered solution and the optimal one found so far. Finally, a tree search heuristic was developed to find the runway sequence, among all the possible sequences of take-offs and landings for a given flight schedule, which can be realized with a series of taxi trajectories that require minimum energy consumption. Given the taxi schedule generated by the aforementioned optimization algorithms a tug dispatch algorithm, assigns a vehicle to each mission. The three optimization schemes and the two mathematical models were tested on several test cases among three airports: the Turin-Caselle airport, the Milan-Malpensa airport, and the Amsterdam airport Schiphol. The cost required to perform the generated schedules using the autonomous tugs was compared to the cost required to perform the taxi using the aircraft engines. The proposed approach resulted always more convenient than the classical one

Particle Swarm Optimization: Basic Concepts, Variants and Applications in Power Systems

Many areas in power systems require solving one or more nonlinear optimization problems. While analytical methods might suffer from slow convergence and the curse of dimensionality, heuristics-based swarm intelligence can be an efficient alternative. Particle swarm optimization (PSO), part of the swarm intelligence family, is known to effectively solve large-scale nonlinear optimization problems. This paper presents a detailed overview of the basic concepts of PSO and its variants. Also, it provides a comprehensive survey on the power system applications that have benefited from the powerful nature of PSO as an optimization technique. For each application, technical details that are required for applying PSO, such as its type, particle formulation (solution representation), and the most efficient fitness functions are also discussed

A novel statistical cerebrovascular segmentation algorithm with particle swarm optimization

AbstractWe present an automatic statistical intensity-based approach to extract the 3D cerebrovascular structure from time-of flight (TOF) magnetic resonance angiography (MRA) data. We use the finite mixture model (FMM) to fit the intensity histogram of the brain image sequence, where the cerebral vascular structure is modeled by a Gaussian distribution function and the other low intensity tissues are modeled by Gaussian and Rayleigh distribution functions. To estimate the parameters of the FMM, we propose an improved particle swarm optimization (PSO) algorithm, which has a disturbing term in speeding updating the formula of PSO to ensure its convergence. We also use the ring shape topology of the particles neighborhood to improve the performance of the algorithm. Computational results on 34 test data show that the proposed method provides accurate segmentation, especially for those blood vessels of small sizes

Variable Speed Limit Control at SAG Curves Through Connected Vehicles: Implications of Alternative Communications and Sensing Technologies

Connected vehicles (CVs) will enable new applications to improve traffic flow. This study’s focus is to investigate how potential implementation of variable speed limit (VSL) through different types of communication and sensing technologies on CVs may improve traffic flow at a sag curve. At sag curves, the gradient changes from negative to positive values which causes a reduction in the roadway capacity and congestion. A VSL algorithm is developed and implemented in a simulation environment for controlling the inflow of vehicles to a sag curve on a freeway to minimize delays and increase throughput. Both vehicle-to-vehicle (V2V) and infrastructure-to-vehicle (I2V) options for CVs are investigated while implementing the VSL control strategy in a simulation environment. Through a feedback control algorithm, the speed of CVs are manipulated in the upstream of the sag curve to avoid the formation of bottlenecks caused by the change in longitudinal driver behavior. A modified version of the intelligent driver model (IDM) is used to simulate driving behavior on the sag curve. Depending on the traffic density at a sag curve, the feedback control algorithm adjusts the approach speeds of CVs so that the throughput of the sag curve is maximized. A meta-heuristic algorithm is employed to determine the critical control parameters. Various market penetration rates for CVs are considered in the simulations for three alternative communications and sensing technologies. It is demonstrated that for higher Market Penetration Rates (MPR) the performance is the same for all three scenarios which means there is no need for infrastructure-based sensing when the MPR is high enough. The results demonstrate that not only the MPR of CVs but also how CVs are distributed in the traffic stream is critical for system performance. While MPR could be high, uneven distribution of CVs and lack of CVs at the critical time periods as congestion is building up may cause a deterioration in system performance