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Extended Colored Traveling Salesperson for Modeling Multi-Agent Mission Planning Problems

Fulltext:


Authors:

Branko Miloradovic, Baran Çürüklü, Mikael Ekström, Alessandro Papadopoulos

Research groups:

Robotics
Complex Real-Time Embedded Systems

Publication Type:

Conference/Workshop Paper

Venue:

8th International Conference on Operations Research and Enterprise Systems

DOI:

10.5220/0007309002370244

Abstract

In recent years, multi-agent systems have been widely used in different missions, ranging from underwater to airborne. A mission typically involves a large number of agents and tasks, making it very hard for the human operator to create a good plan. A search for an optimal plan may take too long, and it is hard to make a time estimate of when the planner will finish. A Genetic algorithm based planner is proposed in order to overcome this issue. The contribution of this paper is threefold. First, an Integer Linear Programming (ILP) formulation of a novel Extended Colored Traveling Salesperson Problem (ECTSP) is given. Second, a new objective function suitable for multi-agent mission planning problems is proposed. Finally, a reparation algorithm to allow usage of common variation operators for ECTSP has been developed.

Bibtex

@inproceedings{Miloradovic5448,
author = {Branko Miloradovic and Baran {\c{C}}{\"u}r{\"u}kl{\"u} and Mikael Ekstr{\"o}m and Alessandro Papadopoulos},
title = {Extended Colored Traveling Salesperson for Modeling Multi-Agent Mission Planning Problems},
month = {February},
year = {2019},
booktitle = {8th International Conference on Operations Research and Enterprise Systems},
url = {http://www.es.mdu.se/publications/5448-}
}