Metaheuristic planner for cooperative multi-agent wall construction with UAVs

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F23%3A00366390" target="_blank" >RIV/68407700:21230/23:00366390 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1016/j.autcon.2023.104908" target="_blank" >https://doi.org/10.1016/j.autcon.2023.104908</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1016/j.autcon.2023.104908" target="_blank" >10.1016/j.autcon.2023.104908</a>

Result language
angličtina
Original language name
Metaheuristic planner for cooperative multi-agent wall construction with UAVs
Original language description
This paper introduces a wall construction planner for Unmanned Aerial Vehicles (UAVs), which uses a Greedy Randomized Adaptive Search Procedure (GRASP) metaheuristic to generate near-time-optimal building plans for even large walls within seconds. This approach addresses one of the most time-consuming and labor-intensive tasks, while also minimizing workers’ safety risks. To achieve this, the wall-building problem is modeled as a variant of the Team Orienteering Problem and is formulated as Mixed-Integer Linear Programming (MILP), with added precedence and concurrence constraints that ensure bricks are built in the correct order and without collision between cooperating agents. The GRASP planner is validated in a realistic simulation and demonstrated to find solutions with similar quality as the optimal MILP, but much faster. Moreover, it outperforms all other state-of-the-art planning approaches in the majority of test cases. This paper presents a significant advancement in the field of automated wall construction, demonstrating the potential of UAVs and optimization algorithms in improving the efficiency and safety of construction projects.
Czech name
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Czech description
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Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
20204 - Robotics and automatic control

Project
<a href="/en/project/GM23-06162M" target="_blank" >GM23-06162M: TOPFLIGHT: Trajectory and Mission Planning for Agile Flight of Aerial Robots in Cluttered Environments</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2023
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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