An adaptive large neighborhood search for the multi-point dynamic aggregation problem  

作　　者：Shengyu Lu Bin Xin Jie Chen Miao Guo 

机构地区：[1]School of Automation,Beijing Institute of Technology,Beijing 100081,China [2]National Key Lab of Autonomous Intelligent Unmanned Systems,Beijing 100081,China [3]Department of Control Science and Engineering,Tongji University,Shanghai 201804,China

出　　处：《Control Theory and Technology》2024年第3期360-378,共19页控制理论与技术（英文版）

基　　金：supported in part by the National Outstanding Youth Talents Support Program(No.61822304);the Basic Science Center Program of the NSFC(No.62088101);the Project of Major International(Regional)Joint Research Program of NSFC(No.61720106011);the Shanghai Municipal Science and Technology Major Project(No.2021SHZDZX0100);the Shanghai Municipal Commission of Science and Technology Project(No.19511132101).

摘　　要：The multi-point dynamic aggregation(MPDA)problem is a challenging real-world problem.In the MPDA problem,the demands of tasks keep changing with their inherent incremental rates,while a heterogeneous robot fleet is required to travel between these tasks to change the time-varying state of each task.The robots are allowed to collaborate on the same task or work separately until all tasks are completed.It is challenging to generate an effective task execution plan due to the tight coupling between robots abilities and tasks'incremental rates,and the complexity of robot collaboration.For effectiveness consideration,we use the variable length encoding to avoid redundancy in the solution space.We creatively use the adaptive large neighborhood search(ALNS)framework to solve the MPDA problem.In the proposed algorithm,high-quality initial solutions are generated through multiple problem-specific solution construction heuristics.These heuristics are also used to fix the broken solution in the novel integrated decoding-construction repair process of the ALNS framework.The results of statistical analysis by the Wilcoxon rank-sum test demonstrate that the proposed ALNS can obtain better task execution plans than some state-of-the-art algorithms in most MPDA instances.

关 键 词：Adaptive large neighborhood search(ALNS) Multi-point dynamic aggregation(MPDA) Heuristic solution construction Multi-robot collaboration 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]