731 research outputs found

    Percepción Activa multi-robot para la cobertura rápida y eficiente de escenas.

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    The efficiency of path-planning in robot navigation is crucial in tasks, such as search-and-rescue and disaster surveying, but this is emphasised even more when considering multi-rotor aerial robots due to the limited battery and flight time. In this spirit, this Master Thesis proposes an efficient, hierarchical planner to achieve a comprehensive visual coverage of large-scale outdoor scenarios for small drones. Following an initial reconnaissance flight, a coarse map of the scene gets built in real-time. Then, regions of the map that were not appropriately observed are identified and grouped by a novel perception-aware clustering process that enables the generation of continuous trajectories (sweeps) to cover them efficiently. Thanks to this partitioning of the map in a set of tasks, we are able to generalize the planning to an arbitrary number of drones and perform a well-balanced workload distribution among them. We compare our approach to an alternative state-of-the-art method for exploration and show the advantages of our pipeline in terms of efficiency for obtaining coverage in large environments.<br /

    Multi-robot active perception for fast andefficient scene reconstruction.

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    The efficiency of path-planning in robot navigation is crucial in tasks, such as search-and-rescue and disaster surveying, but this is emphasised even more when considering multi-rotor aerial robots due to the limited battery and flight time. In this spirit, this Master Thesis proposes an efficient, hierarchical planner to achieve a comprehensive visual coverage of large-scale outdoor scenarios for small drones. Following an initial reconnaissance flight, a coarse map of the scene gets built in real-time. Then, regions of the map that were not appropriately observed are identified and grouped by a novel perception-aware clustering process that enables the generation of continuous trajectories (sweeps) to cover them efficiently. Thanks to this partitioning of the map in a set of tasks, we are able to generalize the planning to an arbitrary number of drones and perform a well-balanced workload distribution among them. We compare our approach to an alternative state-of-the-art method for exploration and show the advantages of our pipeline in terms of efficiency for obtaining coverage in large environments.<br /

    Operational Research: Methods and Applications

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    Throughout its history, Operational Research has evolved to include a variety of methods, models and algorithms that have been applied to a diverse and wide range of contexts. This encyclopedic article consists of two main sections: methods and applications. The first aims to summarise the up-to-date knowledge and provide an overview of the state-of-the-art methods and key developments in the various subdomains of the field. The second offers a wide-ranging list of areas where Operational Research has been applied. The article is meant to be read in a nonlinear fashion. It should be used as a point of reference or first-port-of-call for a diverse pool of readers: academics, researchers, students, and practitioners. The entries within the methods and applications sections are presented in alphabetical order. The authors dedicate this paper to the 2023 Turkey/Syria earthquake victims. We sincerely hope that advances in OR will play a role towards minimising the pain and suffering caused by this and future catastrophes

    Planning and Scheduling Optimization

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    Although planning and scheduling optimization have been explored in the literature for many years now, it still remains a hot topic in the current scientific research. The changing market trends, globalization, technical and technological progress, and sustainability considerations make it necessary to deal with new optimization challenges in modern manufacturing, engineering, and healthcare systems. This book provides an overview of the recent advances in different areas connected with operations research models and other applications of intelligent computing techniques used for planning and scheduling optimization. The wide range of theoretical and practical research findings reported in this book confirms that the planning and scheduling problem is a complex issue that is present in different industrial sectors and organizations and opens promising and dynamic perspectives of research and development

    Routing in multi-class queueing networks

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    PhD ThesisWe consider the problem of routing (incorporating local scheduling) in a distributed network. Dedicated jobs arrive directly at their specified station for processing. The choice of station for generic jobs is open. Each job class has an associated holding cost rate. We aim to develop routing policies to minimise the long-run average holding cost rate. We first consider the class of static policies. Dacre, Glazebrook and Nifio-Mora (1999) developed an approach to the formulation of static routing policies, in which the work at each station is scheduled optimally, using the achievable region approach. The achievable region approach attempts to solve stochastic optimisation problems by characterising the space of all possible performances and optimising the performance objective over this space. Optimal local scheduling takes the form of a priority policy. Such static routing policies distribute the generic traffic to the stations via a simple Bernoulli routing mechanism. We provide an overview of the achievements made in following this approach to static routing. In the course of this discussion we expand upon the study of Becker et al. (2000) in which they considered routing to a collection of stations specialised in processing certain job classes and we consider how the composition of the available stations affects the system performance for this particular problem. We conclude our examination of static routing policies with an investigation into a network design problem in which the number of stations available for processing remains to be determined. The second class of policies of interest is the class of dynamic policies. General DP theory asserts the existence of a deterministic, stationary and Markov optimal dynamic policy. However, a full DP solution may be unobtainable and theoretical difficulties posed by simple routing problems suggest that a closed form optimal policy may not be available. This motivates a requirement for good heuristic policies. We consider two approaches to the development of dynamic routing heuristics. We develop an idea proposed, in the context of simple single class systems, by Krishnan (1987) by applying a single policy improvement step to some given static policy. The resulting dynamic policy is shown to be of simple structure and easily computable. We include an investigation into the comparative performance of the dynamic policy with a number of competitor policies and of the performance of the heuristic as the number of stations in the network changes. In our second approach the generic traffic may only access processing when the station has been cleared of all (higher priority) jobs and can be considered as background work. We deploy a prescription of Whittle (1988) developed for RBPs to develop a suitable approach to station indexation. Taking an approximative approach to Whittle's proposal results in a very simple form of index policy for routing the generic traffic. We investigate the closeness to optimality of the index policy and compare the performance of both of the dynamic routing policies developed here

    New Perspectives on Modelling and Control for Next Generation Intelligent Transport Systems

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    This PhD thesis contains 3 major application areas all within an Intelligent Transportation System context. The first problem we discuss considers models that make beneficial use of the large amounts of data generated in the context of traffic systems. We use a Markov chain model to do this, where important data can be taken into account in an aggregate form. The Markovian model is simple and allows for fast computation, even on low end computers, while at the same time allowing meaningful insight into a variety of traffic system related issues. This allows us to both model and enable the control of aggregate, macroscopic features of traffic networks. We then discuss three application areas for this model: the modelling of congestion, emissions, and the dissipation of energy in electric vehicles. The second problem we discuss is the control of pollution emissions in eets of hybrid vehicles. We consider parallel hybrids that have two power units, an internal combustion engine and an electric motor. We propose a scheme in which we can in uence the mix of the two engines in each car based on simple broadcast signals from a central infrastructure. The infrastructure monitors pollution levels and can thus make the vehicles react to its changes. This leads to a context aware system that can be used to avoid pollution peaks, yet does not restrict drivers unnecessarily. In this context we also discuss technical constraints that have to be taken into account in the design of traffic control algorithms that are of a microscopic nature, i.e. they affect the operation of individual vehicles. We also investigate ideas on decentralised trading of emissions. The goal here is to allocate the rights to pollute fairly among the eet's vehicles. Lastly we discuss the usage of decentralised stochastic assignment strategies in traffic applications. Systems are considered in which reservation schemes can not reliably be provided or enforced and there is a signifficant delay between decisions and their effect. In particular, our approach facilitates taking into account the feedback induced into traffic systems by providing forecasts to large groups of users. This feedback can invalidate the predictions if not modelled carefully. At the same time our proposed strategies are simple rules that are easy to follow, easy to accept, and significantly improve the performance of the systems under study. We apply this approach to three application areas, the assignment of electric vehicles to charging stations, the assignment of vehicles to parking facilities, and the assignment of customers to bike sharing stations. All discussed approaches are analysed using mathematical tools and validated through extensive simulations

    Service scheduling and vehicle routing problem to minimise the risk of missing appointments

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    This research studies a workforce scheduling and vehicle routing problem where technicians drive a vehicle to customer locations to perform service tasks. The service times and travel times are subject to stochastic events. There is an agreed time window for starting each service task. The risk of missing the time window for a task is defined as the probability that the technician assigned to the task arrives at the customer site later than the time window. The problem is to generate a schedule that minimises the maximum of risks and the sum of risks of all the tasks considering the effect of skill levels and task priorities. A new approach is taken to build schedules that minimise the risks of missing appointments as well as the risks of technicians not being able to complete their daily tours on time.We first analyse the probability distribution of the arrival time to any customer location considering the distributions of activities prior to this arrival. Based on the analysis, an efficient estimation method for calculating the risks is proposed, which is highly accurate and this is verified by comparing the results of the estimation method with a numerical integral method.We then develop three new workforce scheduling and vehicle routing models that minimise the risks with different considerations such as an identical standard deviation of the duration for all uncertain tasks in the linear risk minimisation model, and task priorities in the priority task risk minimisation model. A simulated annealing algorithm is implemented for solving the models at the start of the day and for re-optimisation during the day. Computational experiments are carried out to compare the results of the risk minimisation models with those of the traditional travel cost model. The performance is measured using risks and robustness. Simulation is used to compare the numbers of missed appointments and test the effect of re-optimisation.The results of the experiments demonstrate that the new models significantly reduce the risks and generate schedules with more contingency time allowances. Simulation results also show that re-optimisation reduces the number of missed appointments significantly. The risk calculation methods and risk minimisation algorithm are applied to a real-world problem in the telecommunication sector.</div

    Heuristics and policies for online pickup and delivery problems

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    Master ThesisIn the last few decades, increased attention has been dedicated to a speci c subclass of Vehicle Routing Problems due to its signi cant importance in several transportation areas such as taxi companies, courier companies, transportation of people, organ transportation, etc. These problems are characterized by their dynamicity as the demands are, in general, unknown in advance and the corresponding locations are paired. This thesis addresses a version of such Dynamic Pickup and Delivery Problems, motivated by a problem arisen in an Australian courier company, which operates in Sydney, Melbourne and Brisbane, where almost every day more than a thousand transportation orders arrive and need to be accommodated. The rm has a eet of almost two hundred vehicles of various types, mostly operating within the city areas. Thus, whenever new orders arrive at the system the dispatchers face a complex decision regarding the allocation of the new customers within the distribution routes (already existing or new) taking into account a complex multi-level objective function. The thesis thus focuses on the process of learning simple dispatch heuristics, and lays the foundations of a recommendation system able to rank such heuristics. We implemented eight of these, observing di erent characteristics of the current eet and orders. It incorporates an arti cial neural network that is trained on two hundred days of past data, and is supervised by schedules produced by an oracle, Indigo, which is a system able to produce suboptimal solutions to problem instances. The system opens the possibility for many dispatch policies to be implemented that are based on this rule ranking, and helps dispatchers to manage the vehicles of the eet. It also provides results for the human resources required each single day and within the di erent periods of the day. We complement the quite promising results obtained with a discussion on future additions and improvements such as channel eet management, tra c consideration, and learning hyper-heuristics to control simple rule sequences.The thesis work was partially supported by the National ICT Australia according to the Visitor Research Agreement contract between NICTA and Martin Damyanov Aleksandro

    Control of free-ranging automated guided vehicles in container terminals

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    Container terminal automation has come to the fore during the last 20 years to improve their efficiency. Whereas a high level of automation has already been achieved in vertical handling operations (stacking cranes), horizontal container transport still has disincentives to the adoption of automated guided vehicles (AGVs) due to a high degree of operational complexity of vehicles. This feature has led to the employment of simple AGV control techniques while hindering the vehicles to utilise their maximum operational capability. In AGV dispatching, vehicles cannot amend ongoing delivery assignments although they have yet to receive the corresponding containers. Therefore, better AGV allocation plans would be discarded that can only be achieved by task reassignment. Also, because of the adoption of predetermined guide paths, AGVs are forced to deploy a highly limited range of their movement abilities while increasing required travel distances for handling container delivery jobs. To handle the two main issues, an AGV dispatching model and a fleet trajectory planning algorithm are proposed. The dispatcher achieves job assignment flexibility by allowing AGVs towards to container origins to abandon their current duty and receive new tasks. The trajectory planner advances Dubins curves to suggest diverse optional paths per origin-destination pair. It also amends vehicular acceleration rates for resolving conflicts between AGVs. In both of the models, the framework of simulated annealing was applied to resolve inherent time complexity. To test and evaluate the sophisticated AGV control models for vehicle dispatching and fleet trajectory planning, a bespoke simulation model is also proposed. A series of simulation tests were performed based on a real container terminal with several performance indicators, and it is identified that the presented dispatcher outperforms conventional vehicle dispatching heuristics in AGV arrival delay time and setup travel time, and the fleet trajectory planner can suggest shorter paths than the corresponding Manhattan distances, especially with fewer AGVs.Open Acces
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