lfm23

The effectiveness of the proposed algorithm is tested, and proven byJimmy Choo Shoescomputational experiments on benchmark instances. [PUBLICATION ABSTRACT] The problem of integrating task assignment and planning paths for a group of cooperating uninhabited aerial vehicles, servicing multiple targets, is addressed. In the problem of interest the uninhabited aerial vehicles need to perform multiple consecutive tasks cooperatively on each ground target. A Dubins car model is used Christian Louboutin Sandals pink motion planning, taking into account each vehicle's specific constraint of minimum turn radius. By using a finite set to define the visitation angle of a vehicle over a target we pose the integrated problem of task assignment and path optimization in the form of a graph. This new approach results in suboptimal trajectory assignments. Refining the visitation Christian Louboutin Sandals white discretization allows for an improved solution. Due to the computational complexity of the resulting combinatorial optimization problem, we propose genetic algorithms for the stochastic search of the space of solutions. We distinguish between two cases of vehicle group composition: homogeneous, where all vehicles are identical; and heterogeneous, where the vehicles may have different operational capabilities and kinematic constraints. The performance of the genetic algorithms is demonstrated through sample runs and a Monte Carlo simulation study. Results show that the algorithms quickly provide Christian Louboutin sandals wood feasible solutions, and find the optimal solution for small sized problems. [PUBLICATION ABSTRACT] Given an undirected network with positive edge costs and a natural number p, the hop-constrained minimum spanning tree problem (HMST) is the problem of finding a spanning tree with minimum total cost such that each path starting from a specified root node has no more than p hops (edges). In this paper, the new models based on the Miller-Tucker-Zemlin (MTZ) subtour elimination constraints are developed and computational results together with comparisons against MTZ-based, flow-based, and hop-indexed formulations are reported. The first model is obtained by adapting the MTZ-based Asymmetric Traveling Salesman Problem formulation of Sherali and Driscoll and the other two models are obtained by combining topology-enforcing and MTZ-related constraints offered by Akgun and Tansel (submitted for publication) for HMST with the first model appropriately. Computational studies show that the best LP bounds of the MTZ-based models in the literature are improved by the proposed models. The best solution times of the MTZ-based models are not improved for optimally solved instances. However, the results for the harder, large-size instances imply that the proposed models are likely to produce better solution times. The proposed models do not dominate the flow-based and hop-indexed formulations with respect to LP bounds.