crta
Hrvatska znanstvena Sekcija img
bibliografija
3 gif
 Naslovna
 O projektu
 FAQ
 Kontakt
4 gif
Pregledavanje radova
Jednostavno pretraživanje
Napredno pretraživanje
Skupni podaci
Upis novih radova
Upute
Ispravci prijavljenih radova
Ostale bibliografije
Slični projekti
 Bibliografske baze podataka

Pregled bibliografske jedinice broj: 978701

Zbornik radova

Autori: Babić, Anja; Mišković, Nikola; Vukić, Zoran
Naslov: Heuristics pool for hyper-heuristic selection during task allocation in a heterogeneous swarm of marine robots
Izvornik: IFAC Proceedings Volumes (IFAC-PapersOnline) / Mišković, Nikola (ur.). - International Federation of Automatic Control (IFAC) , 2018. 412-417.
Skup: 11th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles CAMS 2018
Mjesto i datum: Opatija, Hrvatska, 10-12.09.2018.
Ključne riječi: cooperative control ; multi-vehicle system ; hyper-heuristic ; vehicle routing problem ; differential evolution ; clustering
Sažetak:
For 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.
Vrsta sudjelovanja: Predavanje
Vrsta prezentacije u zborniku: Cjeloviti rad (više od 1500 riječi)
Vrsta recenzije: Međunarodna recenzija
Projekt / tema: HRZZ-IP-2016-06-2082, EK-H2020-640967
Izvorni jezik: ENG
Kategorija: Znanstveni
Znanstvena područja:
Elektrotehnika,Temeljne tehničke znanosti
URL Internet adrese: https://www.sciencedirect.com/science/article/pii/S2405896318321414
Upisao u CROSBI: Anja Babić (anja.babic@fer.hr), 10. Sij. 2019. u 12:42 sati



Verzija za printanje   za tiskati


upomoc
foot_4