Space exploration is a hot topic in the application field of mobile robots. Proposed solutions have included the frontier exploration algorithm, heuristic algorithms, and deep reinforcement learning. However, these methods cannot solve space exploration in time in a dynamic environment. This paper models the space exploration problem of mobile robots based on the decision-making process of the cognitive architecture of Soar, and three space exploration heuristic algorithms (HAs) are further proposed based on the model to improve the exploration speed of the robot. Experiments are carried out based on the Easter environment, and the results show that HAs have improved the exploration speed of the Easter robot at least 2.04 times of the original algorithm in Easter, verifying the effectiveness of the proposed robot space exploration strategy and the corresponding HAs.
In mobile edge computing systems, the edge server placement problem is mainly tackled as a multi-objective optimization problem and solved with mixed integer programming, heuristic or meta-heuristic algorithms, etc. These methods, however, have profound defect implications such as poor scalability, local optimal solutions, and parameter tuning difficulties. To overcome these defects, we propose a novel edge server placement algorithm based on deep q-network and reinforcement learning, dubbed DQN-ESPA, which can achieve optimal placements without relying on previous placement experience. In DQN-ESPA, the edge server placement problem is modeled as a Markov decision process, which is formalized with the state space, action space and reward function, and it is subsequently solved using a reinforcement learning algorithm. Experimental results using real datasets from Shanghai Telecom show that DQN-ESPA outperforms state-of-the-art algorithms such as simulated annealing placement algorithm (SAPA), Top-K placement algorithm (TKPA), K-Means placement algorithm (KMPA), and random placement algorithm (RPA). In particular, with a comprehensive consideration of access delay and workload balance, DQN-ESPA achieves up to 13.40% and 15.54% better placement performance for 100 and 300 edge servers respectively.
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