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Heuristics pool for hyper-heuristic selection during task allocation in a heterogeneous swarm of marine robots


Babić, Anja; Mišković, Nikola; Vukić, Zoran
Heuristics pool for hyper-heuristic selection during task allocation in a heterogeneous swarm of marine robots // IFAC Proceedings Volumes (IFAC-PapersOnline) / Mišković, Nikola (ur.).
Opatija, Hrvatska: International Federation of Automatic Control (IFAC), 2018. str. 412-417 doi:10.1016/j.ifacol.2018.09.452 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


Naslov
Heuristics pool for hyper-heuristic selection during task allocation in a heterogeneous swarm of marine robots

Autori
Babić, Anja ; Mišković, Nikola ; Vukić, Zoran

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
IFAC Proceedings Volumes (IFAC-PapersOnline) / Mišković, Nikola - : 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

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

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.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Temeljne tehničke znanosti



POVEZANOST RADA


Projekt / tema
EK-H2020-640967 (EK - H2020-FETPROACT-2014)
HRZZ-IP-2016-06-2082 - Kooperativna robotika u nadzoru i istraživanju mora (Nikola Mišković, )

Ustanove
Fakultet elektrotehnike i računarstva, Zagreb

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