Generalized formulation for trajectory optimization in patrolling problems

Ghadiry, Walaaeldin; Habibi, Jalal; Aghdam, Amir G.; Zhang, Youmin

doi:10.1109/ccece.2015.7129191

Cited by 5 publications

(3 citation statements)

References 10 publications

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“…In this paper, a group of two‐wheeled mobile robots with identical dynamics, capable of moving in straight lines and turning on the spot (no curved trajectories when changing directions) are to perform the patrolling task. The distinctive feature of the problem investigated here is that the two main assumptions highlighted in the previous paragraph are relaxed, hence a more general model is developed for the MmTSP [18, 25]. The paper introduces three new formulations, extending the authors' previous work in [26, 27].…”

Section: Introductionmentioning

confidence: 99%

Generalised formulations for minimum distance trajectory in patrolling problems

Ghadiry

Habibi

Aghdam

et al. 2020

IET Control Theory & Applications

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Section: Introductionmentioning

confidence: 99%

Generalised formulations for minimum distance trajectory in patrolling problems

Ghadiry

Habibi

Aghdam

et al. 2020

IET Control Theory & Applications

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“…From a graph theory perspective, the core task of TSP is to obtain a minimum Hamiltonian cycle. However, some real-world problems cannot be modelled via a traditional simple TSP with one single salesman, including personnel scheduling Masmoudi and Mellouli (2014), patrol planning Ghadiry et al (2015), and goods distributing (Liu and Zhang 2014;An and Wei 2011). To address this issue, Multiple TSP (MTSP) has been specifically designed to consider a multiple-travelling salesman problem.…”

Section: Introductionmentioning

confidence: 99%

Two phase heuristic algorithm for the multiple-travelling salesman problem

Yuan

Liptrott

et al. 2017

Soft Comput

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The multiple-travelling salesman problem (MTSP) is a computationally complex combinatorial optimisation problem, with several theoretical and real-world applications. However, many state-of-the-art heuristic approaches intended to specifically solve MTSP, do not obtain satisfactory solutions when considering an optimised workload balance. In this article, we propose a method specifically addressing workload balance, whilst minimising the overall travelling salesman's distance. More specifically, we introduce the two phase heuristic algorithm (TPHA) for MTSP, which includes an improved version of the K -means algorithm by grouping the visited cities based on their locations based on specific capacity constraints. Secondly, a route planning algorithm is designed to assess the ideal route for each above sets. This is achieved via the genetic algorithm (GA), combined with the roulette wheel method with the elitist strategy in the design of the selection process. As part of the validation process, a mobile guide system for tourists based on the Baidu electronic map is discussed. In particular, the evaluation results demonstrate that TPHA achieves a better workload balance whilst minimising of the overall travelling distance, as well as a better performance in solving MTSP compared to the route planning algorithm solely based on GA.

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“…Overall optimal result for Scenarios 1 and 2Proceedings of the 10 th ICEENG Conference, 19-21 April, 2016 EE078 -12 …”

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confidence: 99%

Patrolling Operation Using Functional Heterogeneous Two-Wheeled Mobile Robots and Viewpoints

Ghadiry

2016

The International Conference on Electrical Engineering

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In this paper, the patrolling operation using two-wheeled mobile robots for monitoring a given area is considered. The two-wheeled mobile robots are considered to be functionally heterogeneous while visiting a set of viewpoints which are considered heterogeneous as well. The problem is typically related to the well-known Travelling Salesman Problem. The functionally heterogeneous two-wheeled mobile robots will only be able to visit the viewpoints that correspond to their heterogeneous functionalities. This could be related to their heterogeneous monitoring capabilities. It is required to obtain the optimal overall minimum travel distance while preserving the constraints of the heterogeneous monitoring functionality to have the most efficient patrolling performance. A new formulation is introduced using mixed-integer programing with simulations to present the exact optimal trajectories that can represent such problems.

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Generalized formulation for trajectory optimization in patrolling problems

Cited by 5 publications

References 10 publications

Generalised formulations for minimum distance trajectory in patrolling problems

Generalised formulations for minimum distance trajectory in patrolling problems

Two phase heuristic algorithm for the multiple-travelling salesman problem

Patrolling Operation Using Functional Heterogeneous Two-Wheeled Mobile Robots and Viewpoints

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