140 research outputs found

    Multi-Goal Multi-Agent Path Finding via Decoupled and Integrated Goal Vertex Ordering

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    We introduce multi-goal multi agent path finding (MAPFMG^{MG}) which generalizes the standard discrete multi-agent path finding (MAPF) problem. While the task in MAPF is to navigate agents in an undirected graph from their starting vertices to one individual goal vertex per agent, MAPFMG^{MG} assigns each agent multiple goal vertices and the task is to visit each of them at least once. Solving MAPFMG^{MG} not only requires finding collision free paths for individual agents but also determining the order of visiting agent's goal vertices so that common objectives like the sum-of-costs are optimized. We suggest two novel algorithms using different paradigms to address MAPFMG^{MG}: a heuristic search-based search algorithm called Hamiltonian-CBS (HCBS) and a compilation-based algorithm built using the SMT paradigm, called SMT-Hamiltonian-CBS (SMT-HCBS). Experimental comparison suggests limitations of compilation-based approach

    Fast Scheduling of Robot Teams Performing Tasks With Temporospatial Constraints

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    The application of robotics to traditionally manual manufacturing processes requires careful coordination between human and robotic agents in order to support safe and efficient coordinated work. Tasks must be allocated to agents and sequenced according to temporal and spatial constraints. Also, systems must be capable of responding on-the-fly to disturbances and people working in close physical proximity to robots. In this paper, we present a centralized algorithm, named 'Tercio,' that handles tightly intercoupled temporal and spatial constraints. Our key innovation is a fast, satisficing multi-agent task sequencer inspired by real-time processor scheduling techniques and adapted to leverage a hierarchical problem structure. We use this sequencer in conjunction with a mixed-integer linear program solver and empirically demonstrate the ability to generate near-optimal schedules for real-world problems an order of magnitude larger than those reported in prior art. Finally, we demonstrate the use of our algorithm in a multirobot hardware testbed

    Theoretical and Computational Research in Various Scheduling Models

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    Nine manuscripts were published in this Special Issue on “Theoretical and Computational Research in Various Scheduling Models, 2021” of the MDPI Mathematics journal, covering a wide range of topics connected to the theory and applications of various scheduling models and their extensions/generalizations. These topics include a road network maintenance project, cost reduction of the subcontracted resources, a variant of the relocation problem, a network of activities with generally distributed durations through a Markov chain, idea on how to improve the return loading rate problem by integrating the sub-tour reversal approach with the method of the theory of constraints, an extended solution method for optimizing the bi-objective no-idle permutation flowshop scheduling problem, the burn-in (B/I) procedure, the Pareto-scheduling problem with two competing agents, and three preemptive Pareto-scheduling problems with two competing agents, among others. We hope that the book will be of interest to those working in the area of various scheduling problems and provide a bridge to facilitate the interaction between researchers and practitioners in scheduling questions. Although discrete mathematics is a common method to solve scheduling problems, the further development of this method is limited due to the lack of general principles, which poses a major challenge in this research field

    Systems Engineering: Availability and Reliability

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    Current trends in Industry 4.0 are largely related to issues of reliability and availability. As a result of these trends and the complexity of engineering systems, research and development in this area needs to focus on new solutions in the integration of intelligent machines or systems, with an emphasis on changes in production processes aimed at increasing production efficiency or equipment reliability. The emergence of innovative technologies and new business models based on innovation, cooperation networks, and the enhancement of endogenous resources is assumed to be a strong contribution to the development of competitive economies all around the world. Innovation and engineering, focused on sustainability, reliability, and availability of resources, have a key role in this context. The scope of this Special Issue is closely associated to that of the ICIE’2020 conference. This conference and journal’s Special Issue is to present current innovations and engineering achievements of top world scientists and industrial practitioners in the thematic areas related to reliability and risk assessment, innovations in maintenance strategies, production process scheduling, management and maintenance or systems analysis, simulation, design and modelling
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