<p> In this thesis, we investigate and characterize policies for task allocation to teams of agents in settings with heterogeneity and risk. We first consider a scenario consisting of a set of heterogeneous mobile agents located at a base (or depot), and a set of tasks dispersed over a geographic area. The agents are partitioned into different types. The tasks are partitioned into specialized tasks that can only be done by agents of a certain type, and generic tasks that can be done by any agent. The distances between every pair of tasks are specified and satisfy the triangle inequality. Given this scenario, we address the problem of allocating these tasks among the available agents (subject to type compatibility constraints) while minimizing the maximum travel cost for any agent. We first look at the Heterogeneous Agent Cycle Problem (HACP) where agents start at a common base (or depot) and need to tour the set of tasks allocated to them before returning to the base. This problem is NP-hard, and we provide a 5-approximation algorithm. We then consider the Heterogeneous Agent Path Problem (HAPP) where agents can start from arbitrary locations and are not constrained to return to their start location. We consider two approaches to solve HAPP and provide a 15-approximation algorithm for HAPP.</p> <p> We then look at the effect of risk on path planning by considering a scenario where a mobile agent is required to collect measurements from a geographically dispersed set of sensors and return them to a base. The agent faces a risk of destruction while traversing the environment to reach the sensors and gets the reward for gathering a sensor measurement only if it successfully returns to base. We call this the Single Agent Risk Aware Task Execution (SARATE) problem. We characterize several properties of the optimal policy for the agent. We provide the optimal policy when the risk of destruction is sufficiently high and evaluate several heuristic policies via simulation. We then extend the analysis to multiple heterogeneous agents. We show that the scoring scheme is submodular when the risk is sufficiently high, and the greedy algorithm gives solutions that provide a utility that is guaranteed to be within 50% of the optimal utility. </p>

京都大学 / 0048 / 新制・課程博士 / 博士(情報学) / 甲第18621号 / 情博第545号 / 新制||情||96(附属図書館) / 31521 / 京都大学大学院情報学研究科数理工学専攻 / (主査)教授 永持 仁, 教授 太田 快人, 教授 髙橋 豊 / 学位規則第4条第1項該当 / Doctor of Informatics / Kyoto University / DFAM

京都大学 / 0048 / 新制・課程博士 / 博士(情報学) / 甲第20516号 / 情博第644号 / 新制||情||111(附属図書館) / 京都大学大学院情報学研究科数理工学専攻 / (主査)教授 永持 仁, 教授 太田 快人, 教授 山下 信雄 / 学位規則第4条第1項該当 / Doctor of Informatics / Kyoto University / DFAM

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The success of construction projects depends on proper use of construction equipment and machinery to a great extent. Thus, appropriate planning and control of the activities that rely on construction equipment could have significant effects on improving the efficiency of project operations. Cranes are the largest and most conspicuous construction equipment, widely used in typical construction sites. They play a major role in relocation of materials in horizontal and vertical directions on construction sites. Given the nature of activities relying on construction cranes in various stages of a project, cranes normally have control over the critical path of the project with the potential to create schedule bottlenecks and delaying the completion of the project. This dissertation intends to improve crane operations efficiency by developing a new framework for optimizing crane service sequence schedule. The crane service sequence problem is mathematically formulated as an NP-complete optimization problem based on the well-known Travel Salesman Problem (TSP) and is solved using different optimization techniques depending on the problem’s size and complexity. The proposed framework sets the basis for developing near-real time decision support tools for on-site optimization of crane operations sequence. To underline the value of the proposed crane sequence optimization methods, these methods are employed to solve several numerical examples. Results show that the proposed method can create a travel time saving of 28% on average in comparison with conventional scheduling methods such as First in First out (FIFO), Shortest Job First (SJF), and Earliest Deadline First (EDF).

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Generalized hill climbing (GHC) algorithms provide a framework for using local search algorithms to address intractable discrete optimization problems. Many well-known local search algorithms can be formulated as GHC algorithms, including simulated annealing, threshold accepting, Monte Carlo search, and pure local search (among others). This dissertation develops a mathematical framework for simultaneously addressing a set of related discrete optimization problems using GHC algorithms. The resulting algorithms, termed simultaneous generalized hill climbing (SGHC) algorithms, can be applied to a wide variety of sets of related discrete optimization problems. The SGHC algorithm probabilistically moves between these discrete optimization problems according to a problem generation probability function. This dissertation establishes that the problem generation probability function is a stochastic process that satisfies the Markov property. Therefore, given a SGHC algorithm, movement between these discrete optimization problems can be modeled as a Markov chain. Sufficient conditions that guarantee that this Markov chain has a uniform stationary probability distribution are presented. Moreover, sufficient conditions are obtained that guarantee that a SGHC algorithm will visit the globally optimal solution over all the problems in a set of related discrete optimization problems. Computational results are presented with SGHC algorithms for a set of traveling salesman problems. For comparison purposes, GHC algorithms are also applied individually to each traveling salesman problem. These computational results suggest that optimal/near optimal solutions can often be reached more quickly using a SGHC algorithm. / Ph. D.

This dissertation focuses on supply chain design and logistics problems with emphasis on biomass logistics and routing problems. In biomass logistics, we have studied problems arising in a switchgrass-based bio-ethanol supply chain encountered in the Southeast, and a corn stover harvest scheduling problem faced in the Midwest Unites States, both pertaining to the production of cellulosic ethanol. The main contributions of our work have been in introducing new problems to the literature that lie at the interface of the lot-sizing and routing problems, and in developing effective exact algorithms for their solution. In the routing area, we have addressed extensions of the well-known traveling salesman and vehicle routing problems. We have proposed new formulations and have developed exact algorithms for the single and multiple asymmetric traveling salesmen problems (ATSP and mATP), the high-multiplicity asymmetric traveling salesman problem (HMATSP) and its extensions, and the fixed-destination multi-depot traveling salesman problem with load balancing (FD-MTSPB). Furthermore, we have introduced a new strategy to reduce routing cost in the classical vehicle routing problem (VRP). / Ph. D.

The rapid technological advancement in the past century resulted in a decreased life cycle of a large number of products and, consequently, increased the rate of technological obsolescence. The disposal of obsolete products has resulted in rapid landfilling and now poses a major environmental threat. The governments in many countries around the world have started imposing regulations to curb uncontrolled product disposal. The consumers, too, are now aware of adverse effects of product disposal on environment and increasingly favor environmentally benign products. In the wake of imminent stringent government regulations and the consumer awareness about ecosystem-friendly products, the manufacturers need to think about the alternatives to product disposal. One way to deal with this problem is to disassemble an obsolete product and utilize some of its components/subassemblies in the manufacturing of new products. This seems to be a promising solution because products now-a-days are made in accordance with the highest quality standards and, although an obsolete product may not be in the required functional state as a whole, it is possible that several of its components or subassemblies are still in near perfect condition. However, product disassembly is a complex task requiring human labor as well as automated processes and, consequently, a huge amount of monetary investment. This research addresses a disassembly optimization problem, which aims at minimizing the costs associated with the disassembly process (namely, the costs of breaking the joints and the sequence dependent set-up cost associated with disassembly operations), while maximizing the benefits resulting from recovery of components/subassemblies from a product. We provide a mathematical abstraction of the disassembly optimization problem in the form of integer-programming models. One of our formulations includes a new way of modeling the subtour elimination constraints (SECs), which are usually encountered in the well-known traveling salesman problems. Based on these SECs, a new valid formulation for asymmetric traveling salesman problem (ATSP) was developed. The ATSP formulation was further extended to obtain a valid formulation for the precedence constrained ATSP. A detailed experimentation was conducted to compare the performance of the proposed formulations with that of other well-known formulations discussed in the literature. Our results indicate that in comparison to other well-known formulations, the proposed formulations are quite promising in terms of the LP relaxation bounds obtained and the number of branch and bound nodes explored to reach an optimal integer solution. These new formulations along with the results of experimentation are presented in Appendix A. To solve the disassembly optimization problem, a three-phase iterative solution procedure was developed that can determine optimal or near optimal disassembly plans for complex assemblies. The first phase helps in obtaining an upper bound on our maximization problem through an application of a Lagrangian relaxation scheme. The second phase helps to further improve this bound through addition of a few valid inequalities in our models. In the third phase, we fix some of our decision variables based on the solutions obtained in the iterations of phases 1 and 2 and then implement a branch and bound scheme to obtain the final solution. We test our procedure on several randomly generated data sets and identify the factors that render a problem to be computationally difficult. Also, we establish the practical usefulness of our approach through case studies on the disassembly of a computer processor and a laser printer. / Master of Science