Balanced connected task allocations for multi-robot systems: An exact flow-based integer program and an approximate tree-based genetic algorithm

Zhou, Xing; Wang, Huaimin; Ding, Bo; Hu, Tianjiang; Shang, Suning

doi:10.1016/j.eswa.2018.09.001

Cited by 48 publications

(21 citation statements)

References 25 publications

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“…The branchand-cut algorithm based on the cut formulation was implemented using SCIP 6.0 and Gurobi 9.0 as the LP solver. The branch-and-bound algorithms for the flow formulation and the models previously proposed by Matić [Matić 2014] and Zhou et al [Zhou et al 2019] were implemented using only Gurobi 9.0. Our branch-and-cut algorithm have additional enhancements discussed in Chapter 5 of the thesis; namely, we separate lifted minimal cover inequalities and implement custom domain propagation routines.…”

Section: Computational Resultsmentioning

confidence: 99%

“…In the same section, we also propose new benchmark instances, based on instances generated with OpenStreetMap and real-world public safety data. The computational results show that the exact algorithms based on our formulations are able to solve larger instances in a smaller amount of time than the previous exact solving methods in the literature, namely, the algorithms proposed by Matić [Matić 2014] and Zhou et al [Zhou et al 2019].…”

Section: Contributions and Outlinementioning

confidence: 87%

“…We conducted computational experiments to compare the performance of the proposed solving methods with the state of the art, and to test our algorithms on instances from a real-world application. Among the considered instances are grid graphs and random connected graphs, since these were used in previous works [Matić 2014,Zhou et al 2019. Moreover, we evaluated the performance of our algorithms on new instances based on a police patrolling application.…”

Section: Computational Experimentsmentioning

confidence: 99%

See 2 more Smart Citations

The Balanced Connected k-Partition Problem: Polyhedra and Algorithms

Ota

Miyazawa

Moura³

2021

Anais Do XXXIV Concurso De Teses E Dissertações Da SBC (CTD-SBC 2021)

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The balanced connected k-partition (BCPk) problem consists in partitioning a connected graph into connected subgraphs with similar weights. This problem arises in multiple practical applications, such as police patrolling, image processing, data base and operating systems. In this work, we address the BCPk using mathematical programming. We propose a compact formulation based on flows and a formulation based on separators. We introduce classes of valid inequalities and design polynomial-time separation routines. Moreover, to the best of our knowledge, we present the first polyhedral study for BCPk in the literature. Finally, we report on computational experiments showing that the proposed algorithms significantly outperform the state of the art for BCPk.

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Section: Computational Resultsmentioning

confidence: 99%

Section: Contributions and Outlinementioning

confidence: 87%

Section: Computational Experimentsmentioning

confidence: 99%

See 1 more Smart Citation

The Balanced Connected k-Partition Problem: Polyhedra and Algorithms

Ota

Miyazawa

Moura³

2021

Anais Do XXXIV Concurso De Teses E Dissertações Da SBC (CTD-SBC 2021)

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“…The collecting robot is the one that gets the information about the event location and informs the other robots about the event. The typical solution of the task allocation problem is centralized, assuming a complete communication graph, which can be optimal but needs complex computations (e.g., by using linear integer programming [28]). In this paper, we propose several localized solutions based on a multi-hop communication model.…”

Section: System Modelmentioning

confidence: 99%

Routing with Face Traversal and Auctions Algorithms for Task Allocation in WSRN

Stanulovic

Mitton

Mezei

2021

Sensors

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Four new algorithms (RFTA1, RFTA2, GFGF2A, and RFTA2GE) handling the event in wireless sensor and robot networks based on the greedy-face-greedy (GFG) routing extended with auctions are proposed in this paper. In this paper, we assume that all robots are mobile, and after the event is found (reported by sensors), the goal is to allocate the task to the most suitable robot to act upon the event, using either distance or the robots' remaining energy as metrics. The proposed algorithms consist of two phases. The first phase of algorithms is based on face routing, and we introduced the parameter called search radius (SR) at the end of this first phase. Routing is considered successful if the found robot is inside SR. After that, the second phase, based on auctions, is initiated by the robot found in SR trying to find a more suitable one. In the simulations, network lifetime and communication costs are measured and used for comparison. We compare our algorithms with similar algorithms from the literature (k-SAAP and BFS) used for the task assignment. RFTA2 and RFTA2GE feature up to a seven-times-longer network lifetime with significant communication overhead reduction compared to k-SAAP and BFS. Among our algorithms, RFTA2GE features the best robot energy utilization.

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“…Several methods have been used in the literature for this. Few researchers considered integer programming (Li and Li, 2017;Su et al, 2018;Zhou et al, 2019) and various search algorithms (Zhao et al, 2015;Kartal et al, 2016;Mitiche et al, 2019). Many researchers used metaheuristic algorithms (Liu and Kroll, 2012;Alshawi and Shalan, 2017;Li et al, 2017b, Z. Zhu et al, 2017Arif and Haider, 2018;Chen et al, 2018b, Padmanabhan Panchu et al, 2018Wang et al, 2018;Zhou et al, 2019) to solve this optimization problem, and this could be because of the ease of implementation of such algorithms.…”

Section: Optimization-based Task Allocationmentioning

confidence: 99%

Review on state-of-the-art dynamic task allocation strategies for multiple-robot systems

Seenu

Chetty

Ramya

et al. 2020

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Purpose This paper aims to present a concise review on the variant state-of-the-art dynamic task allocation strategies. It presents a thorough discussion about the existing dynamic task allocation strategies mainly with respect to the problem application, constraints, objective functions and uncertainty handling methods. Design/methodology/approach This paper briefs the introduction of multi-robot dynamic task allocation problem and discloses the challenges that exist in real-world dynamic task allocation problems. Numerous task allocation strategies are discussed in this paper, and it establishes the characteristics features between them in a qualitative manner. This paper also exhibits the existing research gaps and conducive future research directions in dynamic task allocation for multiple mobile robot systems. Findings This paper concerns the objective functions, robustness, task allocation time, completion time, and task reallocation feature for performance analysis of different task allocation strategies. It prescribes suitable real-world applications for variant task allocation strategies and identifies the challenges to be resolved in multi-robot task allocation strategies. Originality/value This paper provides a comprehensive review of dynamic task allocation strategies and incites the salient research directions to the researchers in multi-robot dynamic task allocation problems. This paper aims to summarize the latest approaches in the application of exploration problems.

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Balanced connected task allocations for multi-robot systems: An exact flow-based integer program and an approximate tree-based genetic algorithm

Cited by 48 publications

References 25 publications

The Balanced Connected k-Partition Problem: Polyhedra and Algorithms

The Balanced Connected k-Partition Problem: Polyhedra and Algorithms

Routing with Face Traversal and Auctions Algorithms for Task Allocation in WSRN

Review on state-of-the-art dynamic task allocation strategies for multiple-robot systems

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