Metaheuristic planner for cooperative multi-agent wall construction with UAVs

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Metaheuristic planner for cooperative multi-agent wall construction with UAVs

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Metaheuristic planner for cooperative multi-agent wall construction with UAVs

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

<a href="/cs/project/GM23-06162M" target="_blank" >GM23-06162M: TOPFLIGHT: Plánování trajektorií a misí agilních vzdušných robotů v prostředí s překážkami</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2023

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Automation in Construction

ISSN

0926-5805

e-ISSN

1872-7891

Svazek periodika

152

Číslo periodika v rámci svazku

August

Stát vydavatele periodika

NL - Nizozemsko

Počet stran výsledku

16

Strana od-do

—

Kód UT WoS článku

001005376500001

EID výsledku v databázi Scopus

2-s2.0-85157965120