文章基本信息

标题：Heuristics pool for hyper-heuristic selection during task allocation in a heterogeneous swarm of marine robots
本地全文：下载
作者：Anja Babić ; Nikola Mišković ; Zoran Vukić 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：29
页码：412-417
DOI：10.1016/j.ifacol.2018.09.452
语种：English
出版社：Elsevier
摘要：AbstractFor the purpose of enabling long-term autonomy of a heterogeneous swarm of marine robots, task allocation and sequencing are introduced into the system’s energy management procedures. In a scenario where the system needs to autonomously go about its monitoring mission and survive long- term, the available maximum capacity of 5 USVs - aPad platforms which represent the charging hubs of the system - is usually outnumbered by the number of active charging requests, leading to a need for careful planning and optimisation of robot activities. A two-layered system of decision-making algorithms is developed: a low-level specific solution-focused set of algorithms based on various machine learning paradigms, and a high-level hyper-heuristic which selects between them. This paper focuses on the lower level of this decision-making system, and details some of the approaches to task sequencing to be offered for selection, primarily based on differential evolution and k-means clustering, along with factoring in the effects of water currents and wind. Achieved simulation results are discussed and some directions for further work are suggested.
关键词：Keywordscooperative controlmulti-vehicle systemhyper-heuristicvehicle routing problemdifferential evolutionclustering