اشترك بالحزمة الذهبية واحصل على وصول غير محدود شمرا أكاديميا
تسجيل مستخدم جديدPersistent Covering of a Graph under Latency and Energy Constraints
55
0
0.0
(
0
)
اسأل ChatGPT حول البحث
ﻻ يوجد ملخص باللغة العربية
Most consumer-level low-cost unmanned aerial vehicles (UAVs) have limited battery power and long charging time. Due to these energy constraints, they cannot accomplish many practical tasks, such as monitoring a sport or political event for hours. The problem of providing the service to cover an area for an extended time is known as persistent covering in the literature. In the past, researchers have proposed various hardware platforms, such as battery-swapping mechanisms, to provide persistent covering. However, algorithmic approaches are limited mostly due to the computational complexity and intractability of the problem. Approximation algorithms have been considered to segment a large area into smaller cells that require periodic visits under the latency constraints. However, these methods assume unlimited energy. In this paper, we explore geometric and topological properties that allow us to significantly reduce the size of the optimization problem. Consequently, the proposed method can efficiently determine the minimum number of UAVs needed and schedule their routes to cover an area persistently. We demonstrated experimentally that the proposed algorithm has better performance than the baseline methods.
قيم البحث
اقرأ أيضاً
In this paper, we propose a novel resource management scheme that jointly allocates the transmit power and computational resources in a centralized radio access network architecture. The network comprises a set of computing nodes to which the request
ed tasks of different users are offloaded. The optimization problem minimizes the energy consumption of task offloading while takes the end-to-end latency, i.e., the transmission, execution, and propagation latencies of each task, into account. We aim to allocate the transmit power and computational resources such that the maximum acceptable latency of each task is satisfied. Since the optimization problem is non-convex, we divide it into two sub-problems, one for transmit power allocation and another for task placement and computational resource allocation. Transmit power is allocated via the convex-concave procedure. In addition, a heuristic algorithm is proposed to jointly manage computational resources and task placement. We also propose a feasibility analysis that finds a feasible subset of tasks. Furthermore, a disjoint method that separately allocates the transmit power and the computational resources is proposed as the baseline of comparison. A lower bound on the optimal solution of the optimization problem is also derived based on exhaustive search over task placement decisions and utilizing Karush-Kuhn-Tucker conditions. Simulation results show that the joint method outperforms the disjoint method in terms of acceptance ratio. Simulations also show that the optimality gap of the joint method is less than 5%.
Datacenters have become a significant source of traffic, much of which is carried over private networks. The operators of those networks commonly have access to detailed traffic profiles and performance goals, which they seek to meet as efficiently a
s possible. Of interest are solutions for offering latency guarantees while minimizing the required network bandwidth. Of particular interest is the extent to which traffic (re)shaping can be of benefit. The paper focuses on the most basic network configuration, namely, a single node, single link network, with extensions to more general, multi-node networks discussed in a companion paper. The main results are in the form of optimal solutions for different types of schedulers of varying complexity, and therefore cost. The results demonstrate how judicious traffic shaping can help lower complexity schedulers reduce the bandwidth they require, often performing as well as more complex ones.
Given a system model where machines have distinct speeds and power ratings but are otherwise compatible, we consider various problems of scheduling under resource constraints on the system which place the restriction that not all machines can be run
at once. These can be power, energy, or makespan constraints on the system. Given such constraints, there are problems with divisible as well as non-divisible jobs. In the setting where there is a constraint on power, we show that the problem of minimizing makespan for a set of divisible jobs is NP-hard by reduction to the knapsack problem. We then show that scheduling to minimize energy with power constraints is also NP-hard. We then consider scheduling with energy and makespan constraints with divisible jobs and show that these can be solved in polynomial time, and the problems with non-divisible jobs are NP-hard. We give exact and approximation algorithms for these problems as required.
We consider the problem of dynamically allocating tasks to multiple agents under time window constraints and task completion uncertainty. Our objective is to minimize the number of unsuccessful tasks at the end of the operation horizon. We present a
multi-robot allocation algorithm that decouples the key computational challenges of sequential decision-making under uncertainty and multi-agent coordination and addresses them in a hierarchical manner. The lower layer computes policies for individual agents using dynamic programming with tree search, and the upper layer resolves conflicts in individual plans to obtain a valid multi-agent allocation. Our algorithm, Stochastic Conflict-Based Allocation (SCoBA), is optimal in expectation and complete under some reasonable assumptions. In practice, SCoBA is computationally efficient enough to interleave planning and execution online. On the metric of successful task completion, SCoBA consistently outperforms a number of baseline methods and shows strong competitive performance against an oracle with complete lookahead. It also scales well with the number of tasks and agents. We validate our results over a wide range of simulations on two distinct domains: multi-arm conveyor belt pick-and-place and multi-drone delivery dispatch in a city.
Persistently monitoring a region under localization and communication constraints is a challenging problem. In this paper, we consider a heterogenous robotic system consisting of two types of agents -- anchor agents that have accurate localization ca
pability, and auxiliary agents that have low localization accuracy. The auxiliary agents must be within the communication range of an {anchor}, directly or indirectly to localize itself. The objective of the robotic team is to minimize the uncertainty in the environment through persistent monitoring. We propose a multi-agent deep reinforcement learning (MADRL) based architecture with graph attention called Graph Localized Proximal Policy Optimization (GALLOP), which incorporates the localization and communication constraints of the agents along with persistent monitoring objective to determine motion policies for each agent. We evaluate the performance of GALLOP on three different custom-built environments. The results show the agents are able to learn a stable policy and outperform greedy and random search baseline approaches.
سجل دخول لتتمكن من نشر تعليقات
التعليقات
جاري جلب التعليقات
سجل دخول لتتمكن من متابعة معايير البحث التي قمت باختيارها
