11,217 research outputs found
A Finite-Time Cutting Plane Algorithm for Distributed Mixed Integer Linear Programming
Many problems of interest for cyber-physical network systems can be
formulated as Mixed Integer Linear Programs in which the constraints are
distributed among the agents. In this paper we propose a distributed algorithm
to solve this class of optimization problems in a peer-to-peer network with no
coordinator and with limited computation and communication capabilities. In the
proposed algorithm, at each communication round, agents solve locally a small
LP, generate suitable cutting planes, namely intersection cuts and cost-based
cuts, and communicate a fixed number of active constraints, i.e., a candidate
optimal basis. We prove that, if the cost is integer, the algorithm converges
to the lexicographically minimal optimal solution in a finite number of
communication rounds. Finally, through numerical computations, we analyze the
algorithm convergence as a function of the network size.Comment: 6 pages, 3 figure
Time-optimal Coordination of Mobile Robots along Specified Paths
In this paper, we address the problem of time-optimal coordination of mobile
robots under kinodynamic constraints along specified paths. We propose a novel
approach based on time discretization that leads to a mixed-integer linear
programming (MILP) formulation. This problem can be solved using
general-purpose MILP solvers in a reasonable time, resulting in a
resolution-optimal solution. Moreover, unlike previous work found in the
literature, our formulation allows an exact linear modeling (up to the
discretization resolution) of second-order dynamic constraints. Extensive
simulations are performed to demonstrate the effectiveness of our approach.Comment: Published in 2016 IEEE/RSJ International Conference on Intelligent
Robots and Systems (IROS
Event-Driven Network Model for Space Mission Optimization with High-Thrust and Low-Thrust Spacecraft
Numerous high-thrust and low-thrust space propulsion technologies have been
developed in the recent years with the goal of expanding space exploration
capabilities; however, designing and optimizing a multi-mission campaign with
both high-thrust and low-thrust propulsion options are challenging due to the
coupling between logistics mission design and trajectory evaluation.
Specifically, this computational burden arises because the deliverable mass
fraction (i.e., final-to-initial mass ratio) and time of flight for low-thrust
trajectories can can vary with the payload mass; thus, these trajectory metrics
cannot be evaluated separately from the campaign-level mission design. To
tackle this challenge, this paper develops a novel event-driven space logistics
network optimization approach using mixed-integer linear programming for space
campaign design. An example case of optimally designing a cislunar propellant
supply chain to support multiple lunar surface access missions is used to
demonstrate this new space logistics framework. The results are compared with
an existing stochastic combinatorial formulation developed for incorporating
low-thrust propulsion into space logistics design; our new approach provides
superior results in terms of cost as well as utilization of the vehicle fleet.
The event-driven space logistics network optimization method developed in this
paper can trade off cost, time, and technology in an automated manner to
optimally design space mission campaigns.Comment: 38 pages; 11 figures; Journal of Spacecraft and Rockets (Accepted);
previous version presented at the AAS/AIAA Astrodynamics Specialist
Conference, 201
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