複数エージェントによる移動目標巡回セールスマン問題のための混合整数錐計画法
A Mixed-Integer Conic Program for the Multi-Agent Moving-Target Traveling Salesman Problem
複数のエージェントが時間窓内で移動する目標を訪問する問題に対し、新しい混合整数錐計画法を提案し、計算時間を最大2桁削減した。
著者: Allen George Philip, Zhongqiang Ren, Sivakumar Rathinam, Howie Choset
分類: cs.RO
原文アブストラクト
The Moving-Target Traveling Salesman Problem (MT-TSP) seeks a shortest path for an agent that starts at a stationary depot, visits a set of moving targets exactly once, each within one of their respective time windows, and returns to the depot. In this paper, we introduce a new Mixed-Integer Conic Program (MICP) formulation for the Multi-Agent Moving-Target Traveling Salesman Problem (MA-MT-TSP), a generalization of the MT-TSP involving multiple agents. Our approach begins by restating the current state-of-the-art MICP formulation for MA-MT-TSP as a Nonconvex Mixed-Integer Nonlinear Program (MINLP), followed by a novel reformulation into a new MICP. We present computational results demonstrating that our formulation outperforms the state-of-the-art, achieving up to two orders of magnitude reduction in runtime, and over 90% improvement in optimality gap.
