Robustness of Mission Plans for Unmanned Aircraft.

This thesis studies the robustness of optimal mission plans for unmanned aircraft. Mission planning typically involves tactical planning and path planning. Tactical planning refers to task scheduling and in multi aircraft scenarios also includes establishing a communication topology. Path planning refers to computing a feasible and collision-free trajectory. For a prototypical mission planning problem, the traveling salesman problem on a weighted graph, the robustness of an optimal tour is analyzed with respect to changes to the edge costs. Specifically, the stability region of an optimal tour is obtained, i.e., the set of all edge cost perturbations for which that tour is optimal. The exact stability region of solutions to variants of the traveling salesman problems is obtained from a linear programming relaxation of an auxiliary problem. Edge cost tolerances and edge criticalities are derived from the stability region. For Euclidean traveling salesman problems, robustness with respect to perturbations to vertex locations is considered and safe radii and vertex criticalities are introduced. For weighted-sum multi-objective problems, stability regions with respect to changes in the objectives, weights, and simultaneous changes are given. Most critical weight perturbations are derived. Computing exact stability regions is intractable for large instances. Therefore, tractable approximations are desirable. The stability region of solutions to relaxations of the traveling salesman problem give under approximations and sets of tours give over approximations. The application of these results to the two-neighborhood and the minimum 1-tree relaxation are discussed. Bounds on edge cost tolerances and approximate criticalities are obtainable likewise. A minimum spanning tree is an optimal communication topology for minimizing the cumulative transmission power in multi aircraft missions. The stability region of a minimum spanning tree is given and tolerances, stability balls, and criticalities are derived. This analysis is extended to Euclidean minimum spanning trees. This thesis aims at enabling increased mission performance by providing means of assessing the robustness and optimality of a mission and methods for identifying critical elements. Examples of the application to mission planning in contested environments, cargo aircraft mission planning, multi-objective mission planning, and planning optimal communication topologies for teams of unmanned aircraft are given.PhDAerospace EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/120837/1/mniendo_1.pd

An ACO-Inspired, Probabilistic, Greedy Approach to the Drone Traveling Salesman Problem

In recent years, major companies have done research on using drones for parcel delivery. Research has shown that this can result in significant savings, which has led to the formulation of various truck and drone routing and scheduling optimization problems. This paper explains and analyzes a new approach to the Drone Traveling Salesman Problem (DTSP) based on ant colony optimization (ACO). The ACO-based approach has an acceptance policy that maximizes the usage of the drone. The results reveal that the pheromone causes the algorithm to converge quickly to the best solution. The algorithm performs comparably to the MIP model, CP model, and EA of Rich & Ham (2018), especially in instances with a larger number of stops

Decomposition Based Search - A theoretical and experimental evaluation

In this paper we present and evaluate a search strategy called Decomposition Based Search (DBS) which is based on two steps: subproblem generation and subproblem solution. The generation of subproblems is done through value ranking and domain splitting. Subdomains are explored so as to generate, according to the heuristic chosen, promising subproblems first. We show that two well known search strategies, Limited Discrepancy Search (LDS) and Iterative Broadening (IB), can be seen as special cases of DBS. First we present a tuning of DBS that visits the same search nodes as IB, but avoids restarts. Then we compare both theoretically and computationally DBS and LDS using the same heuristic. We prove that DBS has a higher probability of being successful than LDS on a comparable number of nodes, under realistic assumptions. Experiments on a constraint satisfaction problem and an optimization problem show that DBS is indeed very effective if compared to LDS.Comment: 16 pages, 8 figures. LIA Technical Report LIA00203, University of Bologna, 200

Optimizing production scheduling of steel plate hot rolling for economic load dispatch under time-of-use electricity pricing

Time-of-Use (TOU) electricity pricing provides an opportunity for industrial users to cut electricity costs. Although many methods for Economic Load Dispatch (ELD) under TOU pricing in continuous industrial processing have been proposed, there are still difficulties in batch-type processing since power load units are not directly adjustable and nonlinearly depend on production planning and scheduling. In this paper, for hot rolling, a typical batch-type and energy intensive process in steel industry, a production scheduling optimization model for ELD is proposed under TOU pricing, in which the objective is to minimize electricity costs while considering penalties caused by jumps between adjacent slabs. A NSGA-II based multi-objective production scheduling algorithm is developed to obtain Pareto-optimal solutions, and then TOPSIS based multi-criteria decision-making is performed to recommend an optimal solution to facilitate filed operation. Experimental results and analyses show that the proposed method cuts electricity costs in production, especially in case of allowance for penalty score increase in a certain range. Further analyses show that the proposed method has effect on peak load regulation of power grid.Comment: 13 pages, 6 figures, 4 table

A vehicle routing model with split delivery and stop nodes

In this work, a new variant of the Capacitated Vehicle Routing Problem (CVRP) is presented where the vehicles cannot perform any route leg longer than a given length L (although the routes can be longer). Thus, once a route leg length is close to L, the vehicle must go to a stop node to end the leg or return to the depot. We introduce this condition in a variation of the CVRP, the Split Delivery Vehicle Routing Problem, where multiple visits to a customer by different vehicles are allowed. We present two formulations for this problem which we call Split Delivery Vehicle Routing Problem with Stop Nodes: a vehicle flow formulation and a commodity flow formulation. Because of the complexity of this problem, a heuristic approach is developed. We compare its performance with and without the stop nodesSplit delivery vehicle routing problem, Stop node, Granular neighborhood, Tabu search