An evolutionary algorithm for online, resource constrained, multi-vehicle sensing mission planning

Mobile robotic platforms are an indispensable tool for various scientific and industrial applications. Robots are used to undertake missions whose execution is constrained by various factors, such as the allocated time or their remaining energy. Existing solutions for resource constrained multi-robot sensing mission planning provide optimal plans at a prohibitive computational complexity for online application [1],[2],[3]. A heuristic approach exists for an online, resource constrained sensing mission planning for a single vehicle [4]. This work proposes a Genetic Algorithm (GA) based heuristic for the Correlated Team Orienteering Problem (CTOP) that is used for planning sensing and monitoring missions for robotic teams that operate under resource constraints. The heuristic is compared against optimal Mixed Integer Quadratic Programming (MIQP) solutions. Results show that the quality of the heuristic solution is at the worst case equal to the 5% optimal solution. The heuristic solution proves to be at least 300 times more time efficient in the worst tested case. The GA heuristic execution required in the worst case less than a second making it suitable for online execution.Comment: 8 pages, 5 figures, accepted for publication in Robotics and Automation Letters (RA-L

Centralized versus market-based approaches to mobile task allocation problem: State-of-the-art

Centralized approach has been adopted for finding solutions to resource allocation problems (RAPs) in many real-life applications. On the other hand, market-based approach has been proposed as an alternative to solve the problem due to recent advancement in ICT technologies. In spite of the existence of some efforts to review the pros and cons of each approach in RAPs, the studies cannot be directly applied to specific problem domains like mobile task allocation problem which is characterised with high level of uncertainty on the availability of resources (workers). This paper aims to review existing studies on task allocation problems(TAPs) focusing on those two approaches and their comparison and identify major issues that need to be resolved for comparing the two approaches in mobile task allocation problems. Mobile Task Allocation Problem (MTAP) is defined and its problematic structures are explained in relation with task allocation to mobile workers. Solutions produced by each approach to some applications and variations of MTAP are also discussed and compared. Finally, some future research directions are identified in order to compare both approaches in function of uncertainty emerging from the mobile nature of the MTAP

The Vehicle Routing Problem with Service Level Constraints

We consider a vehicle routing problem which seeks to minimize cost subject to service level constraints on several groups of deliveries. This problem captures some essential challenges faced by a logistics provider which operates transportation services for a limited number of partners and should respect contractual obligations on service levels. The problem also generalizes several important classes of vehicle routing problems with profits. To solve it, we propose a compact mathematical formulation, a branch-and-price algorithm, and a hybrid genetic algorithm with population management, which relies on problem-tailored solution representation, crossover and local search operators, as well as an adaptive penalization mechanism establishing a good balance between service levels and costs. Our computational experiments show that the proposed heuristic returns very high-quality solutions for this difficult problem, matches all optimal solutions found for small and medium-scale benchmark instances, and improves upon existing algorithms for two important special cases: the vehicle routing problem with private fleet and common carrier, and the capacitated profitable tour problem. The branch-and-price algorithm also produces new optimal solutions for all three problems

DISCRETE PARTICLE SWARM OPTIMIZATION FOR THE ORIENTEERING PROBLEM

Discrete particle swarm optimization (DPSO) is gaining popularity in the area of combinatorial optimization in the recent past due to its simplicity in coding and consistency in performance.  A DPSO algorithm has been developed for orienteering problem (OP) which has been shown to have many practical applications.  It uses reduced variable neighborhood search as a local search tool.  The DPSO algorithm was compared with ten heuristic models from the literature using benchmark problems.  The results show that the DPSO algorithm is a robust algorithm that can optimally solve the well known OP test problems

Tour recommendation for groups

Consider a group of people who are visiting a major touristic city, such as NY, Paris, or Rome. It is reasonable to assume that each member of the group has his or her own interests or preferences about places to visit, which in general may differ from those of other members. Still, people almost always want to hang out together and so the following question naturally arises: What is the best tour that the group could perform together in the city? This problem underpins several challenges, ranging from understanding people’s expected attitudes towards potential points of interest, to modeling and providing good and viable solutions. Formulating this problem is challenging because of multiple competing objectives. For example, making the entire group as happy as possible in general conflicts with the objective that no member becomes disappointed. In this paper, we address the algorithmic implications of the above problem, by providing various formulations that take into account the overall group as well as the individual satisfaction and the length of the tour. We then study the computational complexity of these formulations, we provide effective and efficient practical algorithms, and, finally, we evaluate them on datasets constructed from real city data

AN EFFECTIVE METAHEURISTIC FOR TOURIST TRIP PLANNING IN PUBLIC TRANSPORT NETWORKS

The Time-Dependent Orienteering Problem with Time Windows (TDOPTW) is a combinatorial optimization problem defined on graphs. Its real life applications are particularly associated with tourist trip planning in trans-port networks, where travel time between two points depends on the moment of travel start. In the paper an effective TDOPTW solution (evolutionary algorithm with local search operators) was presented and applied to gen-erate attractive tours in real public transport networks of Białystok and Athens. The method achieved very high-quality solutions in a short execution time

Distributed Services with Foreseen and Unforeseen Tasks: The Mobile Re-allocation Problem

In this paper we deal with a common problem found in the operations of security and preventive/corrective maintenance services: that of routing a number of mobile resources to serve foreseen and unforeseen tasks during a shift. We define the (Mobile Re-Allocation Problem) MRAP as the problem of devising a routing strategy to maximize the expected weighted number of tasks served on time. For obtaining a solution to the MRAP, we propose to solve successively a multi-objective optimization problem called the stochastic Team Orienteering Problem with Multiple Time Windows (s-TOP-MTW) so as to consider information about known tasks and the arrival process of new unforeseen tasks. Solving successively the s-TOP-MTW we find that considering information about the arrival process of new unforeseen tasks may aid in maximizing the expected proportion of tasks accomplished on time.location;reliability;routing;distributed services

Spatial coverage in routing and path planning problems

Routing and path planning problems that involve spatial coverage have received increasing attention in recent years in different application areas. Spatial coverage refers to the possibility of considering nodes that are not directly served by a vehicle as visited for the purpose of the objective function or constraints. Despite similarities between the underlying problems, solution approaches have been developed in different disciplines independently, leading to different terminologies and solution techniques. This paper proposes a unified view of the approaches: Based on a formal introduction of the concept of spatial coverage in vehicle routing, it presents a classification scheme for core problem features and summarizes problem variants and solution concepts developed in the domains of operations research and robotics. The connections between these related problem classes offer insights into common underlying structures and open possibilities for developing new applications and algorithms