Managing Redundancy in a Multiple-Robot Orienteering Problem for Equilibrium and Robustness
In our work, the Robust Multiple-robot Orienteering Problem with Workload Balancing is constructed for the first time. Our primary contribution lies in the rigorous formulation of this problem as a three-stage optimization task. It leverages the Robust Multiple-robot Orienteering Problem (RMOP) as t...
Saved in:
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2025-07-01
|
| Series: | Applied Sciences |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-3417/15/15/8217 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1849770600506064896 |
|---|---|
| author | Zengzhen Mi Tong Jiang Wenwen Leng Yuchengzhi Lei |
| author_facet | Zengzhen Mi Tong Jiang Wenwen Leng Yuchengzhi Lei |
| author_sort | Zengzhen Mi |
| collection | DOAJ |
| description | In our work, the Robust Multiple-robot Orienteering Problem with Workload Balancing is constructed for the first time. Our primary contribution lies in the rigorous formulation of this problem as a three-stage optimization task. It leverages the Robust Multiple-robot Orienteering Problem (RMOP) as the initial stage. The Path Replanning stage and the workload balancing stage are introduced to minimize walk redundancy and achieve workload equilibrium. The resultant solution upholds the optimality inherent to the original RMOP. Additionally, we craft a suite of heuristic strategies to mitigate redundancy and employ Monte Carlo sampling to tackle the problem. Our algorithm analysis indicates that the method has asymptotic convergence properties and a feasible time complexity under certain conditions. Local parallelization of the algorithm can further improve its performance. Our simulation studies demonstrate that our approach can efficaciously attain a balance between robustness and workload without compromising performance in the presence of adversarial challenges. |
| format | Article |
| id | doaj-art-00e69346a8d84ed49eb1fc1e2f59cf80 |
| institution | DOAJ |
| issn | 2076-3417 |
| language | English |
| publishDate | 2025-07-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj-art-00e69346a8d84ed49eb1fc1e2f59cf802025-08-20T03:02:56ZengMDPI AGApplied Sciences2076-34172025-07-011515821710.3390/app15158217Managing Redundancy in a Multiple-Robot Orienteering Problem for Equilibrium and RobustnessZengzhen Mi0Tong Jiang1Wenwen Leng2Yuchengzhi Lei3College of Mechanical Engineering, Chongqing University of Technology, Chongqing 400054, ChinaCollege of Mechanical Engineering, Chongqing University of Technology, Chongqing 400054, ChinaCollege of Mechanical Engineering, Chongqing University of Technology, Chongqing 400054, ChinaCollege of Mechanical Engineering, Chongqing University of Technology, Chongqing 400054, ChinaIn our work, the Robust Multiple-robot Orienteering Problem with Workload Balancing is constructed for the first time. Our primary contribution lies in the rigorous formulation of this problem as a three-stage optimization task. It leverages the Robust Multiple-robot Orienteering Problem (RMOP) as the initial stage. The Path Replanning stage and the workload balancing stage are introduced to minimize walk redundancy and achieve workload equilibrium. The resultant solution upholds the optimality inherent to the original RMOP. Additionally, we craft a suite of heuristic strategies to mitigate redundancy and employ Monte Carlo sampling to tackle the problem. Our algorithm analysis indicates that the method has asymptotic convergence properties and a feasible time complexity under certain conditions. Local parallelization of the algorithm can further improve its performance. Our simulation studies demonstrate that our approach can efficaciously attain a balance between robustness and workload without compromising performance in the presence of adversarial challenges.https://www.mdpi.com/2076-3417/15/15/8217multi-robot systemorienteering problemrobust planningworkload balancing |
| spellingShingle | Zengzhen Mi Tong Jiang Wenwen Leng Yuchengzhi Lei Managing Redundancy in a Multiple-Robot Orienteering Problem for Equilibrium and Robustness Applied Sciences multi-robot system orienteering problem robust planning workload balancing |
| title | Managing Redundancy in a Multiple-Robot Orienteering Problem for Equilibrium and Robustness |
| title_full | Managing Redundancy in a Multiple-Robot Orienteering Problem for Equilibrium and Robustness |
| title_fullStr | Managing Redundancy in a Multiple-Robot Orienteering Problem for Equilibrium and Robustness |
| title_full_unstemmed | Managing Redundancy in a Multiple-Robot Orienteering Problem for Equilibrium and Robustness |
| title_short | Managing Redundancy in a Multiple-Robot Orienteering Problem for Equilibrium and Robustness |
| title_sort | managing redundancy in a multiple robot orienteering problem for equilibrium and robustness |
| topic | multi-robot system orienteering problem robust planning workload balancing |
| url | https://www.mdpi.com/2076-3417/15/15/8217 |
| work_keys_str_mv | AT zengzhenmi managingredundancyinamultiplerobotorienteeringproblemforequilibriumandrobustness AT tongjiang managingredundancyinamultiplerobotorienteeringproblemforequilibriumandrobustness AT wenwenleng managingredundancyinamultiplerobotorienteeringproblemforequilibriumandrobustness AT yuchengzhilei managingredundancyinamultiplerobotorienteeringproblemforequilibriumandrobustness |