Supply facility and input/output point locations in the presence of barriers

This paper studies a facility location model in which two-dimensional Euclidean space represents the layout of a shop floor. The demand is generated by fixed rectangular-shaped user sites and served by a single supply facility. It is assumed that (i) communication between the supply point and a demand facility occurs at an input/output (I/O) point on the demand facility itself, (ii) the facilities themselves pose barriers to travel and (iii) distance measurement is as per the L1-metric. The objective is to determine optimal locations of the supply facility as well as I/O points on the demand facilities, in order to minimize total transportation costs. Several, increasingly more complex, versions of the model are formulated and polynomial time algorithms are developed to find the optimal locations in each case. Scope and purpose In a facility layout setting, often a new central supply facility such as a parts supply center or tool crib needs to be located to serve the existing demand facilities (e.g., workstations or maintenance areas). The demand facilities are physical entities that occupy space, that cannot be traveled through, and that receive material from the central facility, through a perimeter I/O (input/output or drop-off/pick-up) point. This paper addresses the joint problem of locating the central facility and determining the I/O point on each demand facility to minimize the total material transportation cost. Different versions of this problem are considered. The solution methods draw from and extend results of location theory for a class of restricted location problems. For practitioners, simple results and polynomial time algorithms are developed for solving these facility (re) design problems

A discretization result for some optimization problems in framework spaces with polyhedral obstacles and the Manhattan metric

In this work we consider the shortest path problem and the single facility Weber location problem in any real space of finite dimension where there exist different types of polyhedral obstacles or forbidden regions. These regions are polyhedral sets and the metric considered in the space is the Manhattan metric. We present a result that reduce these continuous problems into problems in a “add hoc” graph, where the original problems can be solved using elementary techniques of Graph Theory. We show that, fixed the dimension of the space, both the reduction and the resolution can be done in polynomial time.Ministerio de Economía and CompetitividadFondo Europeo de Desarrollo Regiona

Planar rectilinear shortest path computation using corridors

AbstractThe rectilinear shortest path problem can be stated as follows: given a set of m non-intersecting simple polygonal obstacles in the plane, find a shortest L1-metric (rectilinear) path from a point s to a point t that avoids all the obstacles. The path can touch an obstacle but does not cross it. This paper presents an algorithm with time complexity O(n+m(lgn)3/2), which is close to the known lower bound of Ω(n+mlgm) for finding such a path. Here, n is the number of vertices of all the obstacles together

Heterogeneous Self-Reconfiguring Robotics: Ph.D. Thesis Proposal

Self-reconfiguring robots are modular systems that can change shape, or reconfigure, to match structure to task. They comprise many small, discrete, often identical modules that connect together and that are minimally actuated. Global shape transformation is achieved by composing local motions. Systems with a single module type, known as homogeneous systems, gain fault tolerance, robustness and low production cost from module interchangeability. However, we are interested in heterogeneous systems, which include multiple types of modules such as those with sensors, batteries or wheels. We believe that heterogeneous systems offer the same benefits as homogeneous systems with the added ability to match not only structure to task, but also capability to task. Although significant results have been achieved in understanding homogeneous systems, research in heterogeneous systems is challenging as key algorithmic issues remain unexplored. We propose in this thesis to investigate questions in four main areas: 1) how to classify heterogeneous systems, 2) how to develop efficient heterogeneous reconfiguration algorithms with desired characteristics, 3) how to characterize the complexity of key algorithmic problems, and 4) how to apply these heterogeneous algorithms to perform useful new tasks in simulation and in the physical world. Our goal is to develop an algorithmic basis for heterogeneous systems. This has theoretical significance in that it addresses a major open problem in the field, and practical significance in providing self-reconfiguring robots with increased capabilities