10,907 research outputs found
A multi-agent based optimization method applied to the quadratic assignment problem
Inspired by the idea of interacting intelligent agents of a multi-agent system, we introduce a multi-agent based optimization method applied to the quadratic assignment problem (MAOM-QAP). MAOM-QAP is composed of several agents (decision-maker agent, local search agents, crossover agents and perturbation agent) which are designed for the purpose of intensified and diversified search activities. With the help of a reinforcement learning mechanism, MAOM-QAP dynamically decides the most suitable agent to activate according to the state of search process. Under the coordination of the decision-maker agent, the other agents fulfill dedicated search tasks. The performance of the proposed approach is assessed on the set of well-known QAP benchmark instances, and compared with the most advanced QAP methods of the literature. The ideas proposed in this work are rather general and could be adapted to other optimization tasks. This work opens the way for designing new distributed intelligent systems for tackling other complex search problems
Random Finite Set Theory and Optimal Control of Large Collaborative Swarms
Controlling large swarms of robotic agents has many challenges including, but
not limited to, computational complexity due to the number of agents,
uncertainty in the functionality of each agent in the swarm, and uncertainty in
the swarm's configuration. This work generalizes the swarm state using Random
Finite Set (RFS) theory and solves the control problem using Model Predictive
Control (MPC) to overcome the aforementioned challenges. Computationally
efficient solutions are obtained via the Iterative Linear Quadratic Regulator
(ILQR). Information divergence is used to define the distance between the swarm
RFS and the desired swarm configuration. Then, a stochastic optimal control
problem is formulated using a modified L2^2 distance. Simulation results using
MPC and ILQR show that swarm intensities converge to a target destination, and
the RFS control formulation can vary in the number of target destinations. ILQR
also provides a more computationally efficient solution to the RFS swarm
problem when compared to the MPC solution. Lastly, the RFS control solution is
applied to a spacecraft relative motion problem showing the viability for this
real-world scenario.Comment: arXiv admin note: text overlap with arXiv:1801.0731
Decentralized MPC based Obstacle Avoidance for Multi-Robot Target Tracking Scenarios
In this work, we consider the problem of decentralized multi-robot target
tracking and obstacle avoidance in dynamic environments. Each robot executes a
local motion planning algorithm which is based on model predictive control
(MPC). The planner is designed as a quadratic program, subject to constraints
on robot dynamics and obstacle avoidance. Repulsive potential field functions
are employed to avoid obstacles. The novelty of our approach lies in embedding
these non-linear potential field functions as constraints within a convex
optimization framework. Our method convexifies non-convex constraints and
dependencies, by replacing them as pre-computed external input forces in robot
dynamics. The proposed algorithm additionally incorporates different methods to
avoid field local minima problems associated with using potential field
functions in planning. The motion planner does not enforce predefined
trajectories or any formation geometry on the robots and is a comprehensive
solution for cooperative obstacle avoidance in the context of multi-robot
target tracking. We perform simulation studies in different environmental
scenarios to showcase the convergence and efficacy of the proposed algorithm.
Video of simulation studies: \url{https://youtu.be/umkdm82Tt0M
Comparison of agent-based scheduling to look-ahead heuristics for real-time transportation problems
We consider the real-time scheduling of full truckload transportation orders with time windows that arrive during schedule execution. Because a fast scheduling method is required, look-ahead heuristics are traditionally used to solve these kinds of problems. As an alternative, we introduce an agent-based approach where intelligent vehicle agents schedule their own routes. They interact with job agents, who strive for minimum transportation costs, using a Vickrey auction for each incoming order. This approach offers several advantages: it is fast, requires relatively little information and facilitates easy schedule adjustments in reaction to information updates. We compare the agent-based approach to more traditional hierarchical heuristics in an extensive simulation experiment. We find that a properly designed multiagent approach performs as good as or even better than traditional methods. Particularly, the multi-agent approach yields less empty miles and a more stable service level
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
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