Heuristics pool for hyper-heuristic selection during task allocation in a heterogeneous swarm of marine robots (CROSBI ID 671532)
Prilog sa skupa u časopisu | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Babić, Anja ; Mišković, Nikola ; Vukić, Zoran
engleski
Heuristics pool for hyper-heuristic selection during task allocation in a heterogeneous swarm of marine robots
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.
cooperative control ; multi-vehicle system ; hyper-heuristic ; vehicle routing problem ; differential evolution ; clustering
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Podaci o prilogu
412-417.
2018.
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objavljeno
10.1016/j.ifacol.2018.09.452
Podaci o matičnoj publikaciji
IFAC-PapersOnLine
Mišković, Nikola
International Federation of Automatic Control (IFAC)
2405-8963
Podaci o skupu
11th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicle (CAMS 2018)
predavanje
10.09.2018-12.09.2018
Opatija, Hrvatska