620 research outputs found
A Memetic Algorithm for the Generalized Traveling Salesman Problem
The generalized traveling salesman problem (GTSP) is an extension of the
well-known traveling salesman problem. In GTSP, we are given a partition of
cities into groups and we are required to find a minimum length tour that
includes exactly one city from each group. The recent studies on this subject
consider different variations of a memetic algorithm approach to the GTSP. The
aim of this paper is to present a new memetic algorithm for GTSP with a
powerful local search procedure. The experiments show that the proposed
algorithm clearly outperforms all of the known heuristics with respect to both
solution quality and running time. While the other memetic algorithms were
designed only for the symmetric GTSP, our algorithm can solve both symmetric
and asymmetric instances.Comment: 15 pages, to appear in Natural Computing, Springer, available online:
http://www.springerlink.com/content/5v4568l492272865/?p=e1779dd02e4d4cbfa49d0d27b19b929f&pi=1
Lin-Kernighan Heuristic Adaptations for the Generalized Traveling Salesman Problem
The Lin-Kernighan heuristic is known to be one of the most successful
heuristics for the Traveling Salesman Problem (TSP). It has also proven its
efficiency in application to some other problems. In this paper we discuss
possible adaptations of TSP heuristics for the Generalized Traveling Salesman
Problem (GTSP) and focus on the case of the Lin-Kernighan algorithm. At first,
we provide an easy-to-understand description of the original Lin-Kernighan
heuristic. Then we propose several adaptations, both trivial and complicated.
Finally, we conduct a fair competition between all the variations of the
Lin-Kernighan adaptation and some other GTSP heuristics. It appears that our
adaptation of the Lin-Kernighan algorithm for the GTSP reproduces the success
of the original heuristic. Different variations of our adaptation outperform
all other heuristics in a wide range of trade-offs between solution quality and
running time, making Lin-Kernighan the state-of-the-art GTSP local search.Comment: 25 page
An Efficient Hybrid Ant Colony System for the Generalized Traveling Salesman Problem
The Generalized Traveling Salesman Problem (GTSP) is an extension of the
well-known Traveling Salesman Problem (TSP), where the node set is partitioned
into clusters, and the objective is to find the shortest cycle visiting each
cluster exactly once. In this paper, we present a new hybrid Ant Colony System
(ACS) algorithm for the symmetric GTSP. The proposed algorithm is a
modification of a simple ACS for the TSP improved by an efficient GTSP-specific
local search procedure. Our extensive computational experiments show that the
use of the local search procedure dramatically improves the performance of the
ACS algorithm, making it one of the most successful GTSP metaheuristics to
date.Comment: 7 page
Adaptive Synchronization of Robotic Sensor Networks
The main focus of recent time synchronization research is developing
power-efficient synchronization methods that meet pre-defined accuracy
requirements. However, an aspect that has been often overlooked is the high
dynamics of the network topology due to the mobility of the nodes. Employing
existing flooding-based and peer-to-peer synchronization methods, are networked
robots still be able to adapt themselves and self-adjust their logical clocks
under mobile network dynamics? In this paper, we present the application and
the evaluation of the existing synchronization methods on robotic sensor
networks. We show through simulations that Adaptive Value Tracking
synchronization is robust and efficient under mobility. Hence, deducing the
time synchronization problem in robotic sensor networks into a dynamic value
searching problem is preferable to existing synchronization methods in the
literature.Comment: First International Workshop on Robotic Sensor Networks part of
Cyber-Physical Systems Week, Berlin, Germany, 14 April 201
RoboTSP - A Fast Solution to the Robotic Task Sequencing Problem
In many industrial robotics applications, such as spot-welding,
spray-painting or drilling, the robot is required to visit successively
multiple targets. The robot travel time among the targets is a significant
component of the overall execution time. This travel time is in turn greatly
affected by the order of visit of the targets, and by the robot configurations
used to reach each target. Therefore, it is crucial to optimize these two
elements, a problem known in the literature as the Robotic Task Sequencing
Problem (RTSP). Our contribution in this paper is two-fold. First, we propose a
fast, near-optimal, algorithm to solve RTSP. The key to our approach is to
exploit the classical distinction between task space and configuration space,
which, surprisingly, has been so far overlooked in the RTSP literature. Second,
we provide an open-source implementation of the above algorithm, which has been
carefully benchmarked to yield an efficient, ready-to-use, software solution.
We discuss the relationship between RTSP and other Traveling Salesman Problem
(TSP) variants, such as the Generalized Traveling Salesman Problem (GTSP), and
show experimentally that our method finds motion sequences of the same quality
but using several orders of magnitude less computation time than existing
approaches.Comment: 6 pages, 7 figures, 1 tabl
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