A meta-heuristic based goal-selection strategy for mobile robot search in an unknown environment

The single-robot search problem in an unknown environment is defined as the problem of finding a stationary object in the environment whose map is not known a priori. Compared to exploration, the only difference lies in goal selection as the objectives of search and exploration are dissimilar, i.e. a trajectory that is optimal in exploration does not necessarily minimize the expected value of the time to find an object along it. For this reason, in this paper we extend the preliminary ideas presented in Kulich et al. [1] to a general framework that accounts for the particular characteristics of the search problem. Within this framework, an important decision involved in the determination of the trajectory can be formulated as an instance of the Graph Search Problem (GSP), a generalization of the well-known Traveling Deliveryman Problem (TDP) which has not received much attention in the literature. We developed a tailored Greedy Randomized Adaptive Search Procedure (GRASP) meta-heuristic for the GSP, which generates good quality solutions in very short computing times and is incorporated in the overall framework. The proposed approach produces very good results in a simulation environment, showing that it is feasible from a computational standpoint and the proposed strategy outperforms the standard approaches.     

A redistricting problem applied to meter reading in power distribution networks

The capacitated redistricting problem (CRP) has the objective to redefine, under a given criterion, an initial set of districts of an urban area represented by a geographic network. Each node in the network has different types of demands and each district has a limited capacity. Real-world applications consider more than one criteria in the design of the districts, leading to a multicriteria CRP (MCRP). Examples are found in political districting, sales design, street sweeping, garbage collection and mail delivery. This work addresses the MCRP applied to power meter reading and two criteria are considered: compactness and homogeneity of districts. The proposed solution framework is based on a greedy randomized adaptive search procedure and multicriteria scalarization techniques to approximate the Pareto frontier. The computational experiments show the effectiveness of the method for a set of randomly generated networks and for a real-world network extracted from the city of São Paulo.     

Tree ensemble construction using a GRASP-based heuristic and annealed randomness

Two new methods for tree ensemble construction are presented: G-Forest and GAR-Forest. In a similar way to Random Forest, the tree construction process entails a degree of randomness.The same strategy used in the GRASP metaheuristic for generating random and adaptive solutions is used at each node of the trees. The source of diversity of the ensemble is the randomness of the solution generation method of GRASP. A further key feature of the tree construction method for GAR-Forest is a decreasing level of randomness during the process of constructing the tree: maximum randomness at the root and minimum randomness at the leaves. The method is therefore named “GAR”, GRASP with annealed randomness.The results conclusively demonstrate that G-Forest and GAR-Forest outperform Bagging, AdaBoost, MultiBoost, Random Forest and Random Subspaces. The results are even more convincing in the presence of noise, demonstrating the robustness of the method.The relationship between base classifier accuracy and their diversity is analysed by application of kappa-error diagrams and a variant of these called kappa-error relative movement diagrams.     

A grasp algorithm for m-machine flowshop scheduling problem with bicriteria of makespan and maximum tardiness

In this paper we address the problem of minimizing the weighted sum of makespan and maximum tardiness in an m-machine flow shop environment. This is a NP-hard problem in the strong sense. An attempt has been made to solve this problem using a metaheuristic called Greedy Randomized Adaptive Search Procedure (GRASP). GRASP is a competitive algorithm and is a meta-heuristic for solving combinatorial optimization problems. We have customized the basic concepts of GRASP algorithm to solve a bicriteria flow shop problem and a new algorithm named B-GRASP (Bicriteria GRASP algorithm) is proposed. The new proposed algorithm is evaluated using benchmark problems taken from Taillard and compared with the existing simulated annealing based heuristic developed by Chakravarthy and Rajendran. Computational experiments indicate that the proposed algorithm is much better than the existing one in all cases.     

风电并网时基于需求侧响应的输电规划模型

在输电规划中引入需求侧响应机制,能够促使用户根据实时供用电情况改变电量消费行为,这有利于提高电网运行的灵活性,是应对风电并网不确定性问题的有效手段。综合考虑了风电机组出力的不确定性,建立了风电出力估算模型,并在输电规划目标函数中引入需求侧响应成本,建立了基于需求侧响应机制的输电规划模型,采用贪婪随机自适应搜索过程(greedy randomized adaptive search procedure,GRASP)对模型进行求解。根据Garver 6节点和IEEE-24节点系统测算基于需求侧响应机制的输电规划模型,并通过与一般输电规划模型对比,验证了基于需求侧响应机制的输电规划模型的有效性。     

Disassembly sequence planning in a disassembly cell context

In this paper a two-phase approach is proposed for determining the optimal disassembly sequence when the disassembly system has a cellular configuration. Operations are first grouped into cells based on the resources they require with the goal of minimizing machine acquisition costs. The aim is to group together those operations that use similar equipment in order to achieve good utilization levels of such equipment. A maximum cell size may be imposed. Once the cells have been formed and the operations have been assigned to them, a metaheuristic algorithm (namely GRASP) is used to search for the disassembly sequence for each product that leads to the minimum number of intercellular movements. To account for uncertainty regarding the condition in which the product may arrive, each disassembly task is assumed to be required with a certain probability, regardless of the other tasks. AND/OR precedence relations among the disassembly tasks are also considered. The proposed approach is illustrated on a randomly generated disassembly problem.     

Generic Motion Planner for Robot Multi-fingered Manipulation

This paper addresses the dexterous manipulation planning problem, which deals with motion planning for a multi-fingered hand manipulating objects among static obstacles, under quasi-static movement assumption. We propose a general manipulation approach able to compute object and finger trajectories, as well as the finger relocation sequence, in order to link any two given configurations of the composite system hand + object. It relies on a topological property that characterizes the existence of solutions in the subspace of configurations where the object is grasped by the n fingers. This property helps reduce the problem by structuring the search space. The developed planner captures in a probabilistic roadmap the connectivity of submanifolds of the composite configuration space. The answer to the manipulation planning query is then given by searching a path in the computed graph. Simulation experiments are reported for different multi-fingered manipulation task examples showing the efficiency of the proposed method.     

Probabilistic GRASP-Tabu Search algorithms for the UBQP problem

This paper presents two algorithms combining GRASP and Tabu Search for solving the Unconstrained Binary Quadratic Programming (UBQP) problem. We first propose a simple GRASP-Tabu Search algorithm working with a single solution and then reinforce it by introducing a population management strategy. Both algorithms are based on a dedicated randomized greedy construction heuristic and a tabu search procedure. We show extensive computational results on two sets of 31 large random UBQP instances and one set of 54 structured instances derived from the MaxCut problem. Comparisons with state-of-the-art algorithms demonstrate the efficacy of our proposed algorithms in terms of both solution quality and computational efficiency. It is noteworthy that the reinforced GRASP-Tabu Search algorithm is able to improve the previous best known results for 19 MaxCut instances.     

A GRASP/Path Relinking algorithm for two- and three-dimensional multiple bin-size bin packing problems

The three-dimensional multiple bin-size bin packing problem, MBSBPP, is the problem of packing a set of boxes into a set of bins when several types of bins of different sizes and costs are available and the objective is to minimize the total cost of bins used for packing the boxes. First we propose a GRASP algorithm, including a constructive procedure, a postprocessing phase and some improvement moves. The best solutions obtained are then combined into a Path Relinking procedure for which we have developed three versions: static, dynamic and evolutionary. An extensive computational study, using two- and three-dimensional instances, shows the relative efficiency of the alternatives considered for each phase of the algorithm and the good performance of our algorithm compared with previously reported results.     

A GRASP with path-relinking heuristic for the survivable IP/MPLS-over-WSON multi-layer network optimization problem

In this paper we deal with the survivable internet protocol (IP)/multi-protocol label switching (MPLS)-over-wavelength switched optical network (WSON) multi-layer network optimization problem (SIMNO). This problem entails planning an IP/MPLS network layer over a photonic mesh infrastructure whilst, at the same time, ensuring the highest availability of services and minimizing the capital expenditures (CAPEX) investments. Such a problem is currently identified as an open issue among network operators, and hence, its solution is of great interest. To tackle SIMNO, we first provide an integer linear programming (ILP) formulation which provides an insight into the complexity of its managing. Then, a greedy randomized adaptive search procedure (GRASP) with path-relinking (PR) together with a biased random-key genetic algorithm (BRKGA) are specifically developed to help solve the problem. The performance of both heuristics is exhaustively tested and compared making use of various network and traffic instances. Numerical experiments show the benefits of using GRASP instead of BRKGA when dealing with highly complex network scenarios. Moreover, we verified that the use of GRASP with PR remarkably improves the basic GRASP algorithm, particularly in real-sized, complex scenarios such as those proposed in this paper.