1,410 research outputs found

    Design of an UAV swarm

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    This master thesis tries to give an overview on the general aspects involved in the design of an UAV swarm. UAV swarms are continuoulsy gaining popularity amongst researchers and UAV manufacturers, since they allow greater success rates in task accomplishing with reduced times. Appart from this, multiple UAVs cooperating between them opens a new field of missions that can only be carried in this way. All the topics explained within this master thesis will explain all the agents involved in the design of an UAV swarm, from the communication protocols between them, navigation and trajectory analysis and task allocation

    Distributed simultaneous task allocation and motion coordination of autonomous vehicles using a parallel computing cluster

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    Task allocation and motion coordination are the main factors that should be consi-dered in the coordination of multiple autonomous vehicles in material handling systems. Presently, these factors are handled in different stages, leading to a reduction in optimality and efficiency of the overall coordination. However, if these issues are solved simultaneously we can gain near optimal results. But, the simultaneous approach contains additional algorithmic complexities which increase computation time in the simulation environment. This work aims to reduce the computation time by adopting a parallel and distributed computation strategy for Simultaneous Task Allocation and Motion Coordination (STAMC). In the simulation experiments, each cluster node executes the motion coordination algorithm for each autonomous vehicle. This arrangement enables parallel computation of the expensive STAMC algorithm. Parallel and distributed computation is performed directly within the interpretive MATLAB environment. Results show the parallel and distributed approach provides sub-linear speedup compared to a single centralised computing node. © 2007 Springer-Verlag Berlin Heidelberg

    A Cognitive Routing framework for Self-Organised Knowledge Defined Networks

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    This study investigates the applicability of machine learning methods to the routing protocols for achieving rapid convergence in self-organized knowledge-defined networks. The research explores the constituents of the Self-Organized Networking (SON) paradigm for 5G and beyond, aiming to design a routing protocol that complies with the SON requirements. Further, it also exploits a contemporary discipline called Knowledge-Defined Networking (KDN) to extend the routing capability by calculating the “Most Reliable” path than the shortest one. The research identifies the potential key areas and possible techniques to meet the objectives by surveying the state-of-the-art of the relevant fields, such as QoS aware routing, Hybrid SDN architectures, intelligent routing models, and service migration techniques. The design phase focuses primarily on the mathematical modelling of the routing problem and approaches the solution by optimizing at the structural level. The work contributes Stochastic Temporal Edge Normalization (STEN) technique which fuses link and node utilization for cost calculation; MRoute, a hybrid routing algorithm for SDN that leverages STEN to provide constant-time convergence; Most Reliable Route First (MRRF) that uses a Recurrent Neural Network (RNN) to approximate route-reliability as the metric of MRRF. Additionally, the research outcomes include a cross-platform SDN Integration framework (SDN-SIM) and a secure migration technique for containerized services in a Multi-access Edge Computing environment using Distributed Ledger Technology. The research work now eyes the development of 6G standards and its compliance with Industry-5.0 for enhancing the abilities of the present outcomes in the light of Deep Reinforcement Learning and Quantum Computing

    Nature-inspired Methods for Stochastic, Robust and Dynamic Optimization

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    Nature-inspired algorithms have a great popularity in the current scientific community, being the focused scope of many research contributions in the literature year by year. The rationale behind the acquired momentum by this broad family of methods lies on their outstanding performance evinced in hundreds of research fields and problem instances. This book gravitates on the development of nature-inspired methods and their application to stochastic, dynamic and robust optimization. Topics covered by this book include the design and development of evolutionary algorithms, bio-inspired metaheuristics, or memetic methods, with empirical, innovative findings when used in different subfields of mathematical optimization, such as stochastic, dynamic, multimodal and robust optimization, as well as noisy optimization and dynamic and constraint satisfaction problems

    AGENT-BASED DISCRETE EVENT SIMULATION MODELING AND EVOLUTIONARY REAL-TIME DECISION MAKING FOR LARGE-SCALE SYSTEMS

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    Computer simulations are routines programmed to imitate detailed system operations. They are utilized to evaluate system performance and/or predict future behaviors under certain settings. In complex cases where system operations cannot be formulated explicitly by analytical models, simulations become the dominant mode of analysis as they can model systems without relying on unrealistic or limiting assumptions and represent actual systems more faithfully. Two main streams exist in current simulation research and practice: discrete event simulation and agent-based simulation. This dissertation facilitates the marriage of the two. By integrating the agent-based modeling concepts into the discrete event simulation framework, we can take advantage of and eliminate the disadvantages of both methods.Although simulation can represent complex systems realistically, it is a descriptive tool without the capability of making decisions. However, it can be complemented by incorporating optimization routines. The most challenging problem is that large-scale simulation models normally take a considerable amount of computer time to execute so that the number of solution evaluations needed by most optimization algorithms is not feasible within a reasonable time frame. This research develops a highly efficient evolutionary simulation-based decision making procedure which can be applied in real-time management situations. It basically divides the entire process time horizon into a series of small time intervals and operates simulation optimization algorithms for those small intervals separately and iteratively. This method improves computational tractability by decomposing long simulation runs; it also enhances system dynamics by incorporating changing information/data as the event unfolds. With respect to simulation optimization, this procedure solves efficient analytical models which can approximate the simulation and guide the search procedure to approach near optimality quickly.The methods of agent-based discrete event simulation modeling and evolutionary simulation-based decision making developed in this dissertation are implemented to solve a set of disaster response planning problems. This research also investigates a unique approach to validating low-probability, high-impact simulation systems based on a concrete example problem. The experimental results demonstrate the feasibility and effectiveness of our model compared to other existing systems

    Smart charging strategies for electric vehicle charging stations

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    Although the concept of transportation electrification holds enormous prospects in addressing the global environmental pollution problem, consumer concerns over the limited availability of charging stations and long charging/waiting times are major contributors to the slow uptake of plug-in electric vehicles (PEVs) in many countries. To address the consumer concerns, many countries have undertaken projects to deploy a network of both fast and slow charging stations, commonly known as electric vehicle charging networks. While a large electric vehicle charging network will certainly be helpful in addressing PEV owners\u27 concerns, the full potential of this network cannot be realised without the implementation of smart charging strategies. For example, the charging load distribution in an EV charging network would be expected to be skewed towards stations located in hotspot areas, instigating longer queues and waiting times in these areas, particularly during afternoon peak traffic hours. This can also lead to a major challenge for the utilities in the form of an extended PEV charging load period, which could overlap with residential evening peak load hours, increasing peak demand and causing serious issues including network instability and power outages. This thesis presents a smart charging strategy for EV charging networks. The proposed smart charging strategy finds the optimum charging station for a PEV owner to ensure minimum charging time, travel time and charging cost. The problem is modelled as a multi-objective optimisation problem. A metaheuristic solution in the form of ant colony optimisation (ACO) is applied to solve the problem. Considering the influence of pricing on PEV owners\u27 behaviour, the smart charging strategy is then extended to address the charging load imbalance problem in the EV network. A coordinated dynamic pricing model is presented to reduce the load imbalance, which contributes to a reduction in overlaps between residential and charging loads. A constraint optimization problem is formulated and a heuristic solution is introduced to minimize the overlap between the PEV and residential peak load periods. In the last part of this thesis, a smart management strategy for portable charging stations (PCSs) is introduced. It is shown that when smartly managed, PCSs can play an important role in the reduction of waiting times in an EV charging network. A new strategy is proposed for dispatching/allocating PCSs during various hours of the day to reduce waiting times at public charging stations. This also helps to decrease the overlap between the total PEV demand and peak residential load
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