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Underwater Robot Task Planning Using Multi-Objective Meta-Heuristics.

Itziar Landa-Torres1, Diana Manjarres2, Sonia Bilbao3

  • 1TECNALIA, 48160 Derio, Bizkaia, Spain. itziar.landa@tecnalia.com.

Sensors (Basel, Switzerland)
|April 5, 2017
PubMed
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This summary is machine-generated.

This study introduces three heuristic solvers for optimizing underwater robotic swarm missions. The algorithms efficiently schedule tasks, considering mission costs like battery consumption and wear, to improve operational efficiency.

Area of Science:

  • Robotics
  • Artificial Intelligence
  • Operations Research

Background:

  • Underwater robotics face critical resource allocation and scheduling challenges due to harsh operational conditions.
  • Mission cost, encompassing resource depletion and mechanical wear, is a crucial factor in designing effective robotic operations.

Purpose of the Study:

  • To develop and evaluate heuristic solvers for efficient task scheduling in underwater robotic swarms.
  • To incorporate mission cost as a key criterion in optimizing task allocation and execution order.

Main Methods:

  • Devised three heuristic solvers utilizing a Random-Keys encoding strategy.
  • Represented robot-to-task allocation and task execution order within robot schedules.
  • Conducted experiments in realistic underwater scenarios.
Keywords:
Harmony Searchheuristicmulti-objective optimizationrandom keys encodingschedulingunderwater robots

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Main Results:

  • The heuristic algorithms demonstrated varying performance in terms of Pareto optimality and solution spread.
  • Identified significant differences between the developed algorithms in scheduling efficiency.
  • Provided insights into selecting appropriate task schedulers for underwater missions.

Conclusions:

  • The developed heuristic solvers offer efficient approaches to task scheduling for underwater robotic swarms.
  • The study highlights the importance of considering mission cost in robotic mission planning.
  • Results guide the selection of optimal scheduling strategies for real-world underwater campaigns.