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A Multi-objective Approach for Unmanned Aerial Vehicle Routing Problem with Soft Time Windows
Constraints
Francesca Guerriero, Rosario Surace, Valeria Loscrì, Enrico Natalizio
To cite this version:
Francesca Guerriero, Rosario Surace, Valeria Loscrì, Enrico Natalizio. A Multi-objective Approach
for Unmanned Aerial Vehicle Routing Problem with Soft Time Windows Constraints. Applied Math-
ematical Modelling, Elsevier, 2014, 38 (3), pp.839-852. �10.1016/j.apm.2013.07.002�. �hal-00917512�
A Multi-objective Approach for Unmanned Aerial Vehicle Routing Problem with Soft Time Windows
Constraints
F. Guerriero a,∗ , R. Surace a , V. Loscr´ı a , E. Natalizio b
a
University of Calabria, Italy
b
Heudiasyc - UMR CNRS 7253 - Universit´ e de Technologie de Compi` egne, France
Abstract
Aerial robotics can be very useful to perform complex tasks in a distributed and cooperative fashion, such as localization of targets and search of point of interests (PoIs). In this work, we propose a distributed system of au- tonomous Unmanned Aerial Vehicles (UAVs), able to self-coordinate and cooperate in order to ensure both spatial and temporal coverage of specific time and spatial varying PoIs. In particular, we consider an UAVs system able to solve distributed dynamic scheduling problems, since each device is required to move towards a certain position in a certain time. We give a mathematical formulation of the problem as a multi-criteria optimization model, in which the total distances traveled by the UAVs (to be minimized), the customer satisfaction (to be maximized) and the number of used UAVs (to be minimized) are considered simultaneously. A dynamic variant of the basic optimization model, defined by considering the rolling horizon concept, is shown. We introduce a case study as an application scenario, where sport actions of a football match are filmed through a distributed UAVs system.
The customer satisfaction and the traveled distance are used as performance parameters to evaluate the proposed approaches on the considered scenario.
Keywords: UAV Routing Problem, Multicriteria Optimization, VRP with Soft Time Windows, ϵ-constraint method
∗
Corresponding author
Email addresses: guerriero@deis.unical.it (F. Guerriero),
rsurace@deis.unical.it (R. Surace), vloscri@deis.unical.it (V. Loscr´ı),
enrico.natalizio@hds.utc.fr (E. Natalizio)
1. Introduction
Technological advances in the area of unmanned aerial vehicles (UAVs, for short), commonly known as drones, are opening new possibilities for creating teams of vehicles able to perform complex missions with some degree of autonomy. A possible application of a team of UAVs, equipped with camera (referred to as camera-drones), is represented by a live sporting event filming, where the use of the camera-drones gives the audience the feeling to be part of the sport competition itself.
This kind of application falls in the general class of dynamic and dis- tributed scheduling problems, whose aim is to ensure both spatial and tem- poral coverage of given set of point of interests (PoIs). In the specific case of sport event, a PoI could be the movement of the ball that has to be followed and filmed. The spatial coverage implies that the PoI where the event occurs will be “covered”, whereas the temporal coverage is related to a time con- straint associated to the event. In practice, the PoI needs to be covered when the event starts and for the whole duration of the event itself. Based on the previous considerations, it is evident that the strategic level of the mission planning needs a dynamic scheduler, deciding what event the system should consider at each time and which drone should be used. In addition, the concept of soft time windows is used to take into account temporal coverage constraints. Soft time concept allows us to find feasible scheduling schemes by introducing a penalty in terms of lower satisfactions of the customers every time a drone is not able to reach “quickly” a PoI.
In this paper, we present a mathematical formulation of the UAVs routing problem in which conflicting objectives are optimized simultaneously. In particular, the proposed multi-criteria optimization model takes into account three objective functions: the total distances traveled by the UAVs (to be minimized), the customer satisfaction (to be maximized) and the number of used UAVs (to be minimized). The customer satisfaction is modeled by using soft time windows constraints. Since the considered criteria are conflicting objectives and thus it is not possible to find a unique optimal solution, the ϵ-constraint method [4] is applied to determine the set of efficient solutions.
In addition, in order to capture the dynamicity of the considered scenario, a rolling horizon approach is defined.
Since the problem we deal with in this work belongs to the NP-hard
class, we have also considered some efficient heuristics and compare their behavior with the benchmark obtained by using the optimization model, in terms of minimization of distance traveled and maximization of customer’s satisfaction. The rest of the paper is organized as follows. Section 2 is devoted to a presentation of the related works. The UAVs routing problem and the proposed multi-criteria optimization model for its representation are described in Section 3. The solution strategies developed to define the set of efficient solutions are presented in Section 4, whereas their behavior is evaluated experimentally in Section 5. The paper ends with some concluding remarks given in Section 6.
2. Related Works
The main motivation for this work comes from the development of UAVs that have many characteristics that make them attractive for cooperative monitoring applications [15]. UAVs can be tailored for a specific mission and are typically low-cost. These characteristics make them very useful in disaster related situations [2] [8] and able for performing complex missions with some degree of autonomy. Typically, this kind of networks is mainly used in Information, Surveillance and Reconnaissance missions (ISR) [11]. In some cases ISR can be represented effectively through dynamic scheduling problems.
In this work we address a task scheduling problem combined with the motion planning one, aimed at reaching a certain coverage degree both spa- tial and temporal. This specific application belongs to the general class of Dynamic Vehicle Routing (DVR) problem. For this reason, in what follows the terms “vehicle”, “drone” and “UAV” are used in an interchangeable way.
Similarly to [11], we focus on mission planning at the strategic level, de- ciding what event the system should consider at each time and which vehicle must be used. In [11] authors consider available a probabilistic description of the environments dynamics, whereas we consider a rolling horizon ap- proach to face with the dynamicity of the environment. Moreover, authors in [11] add switching costs penalizing the travel of vehicles between the sites to inspect, while we consider the costs associated to the “transition” of a vehicle from a point to another point, by considering explicitly the distances associated to.
Another example of dynamic scheduling application has been considered
in [16]. They consider m aircrafts tracking the positions of n submarines with
m < n, so that aircraft has to change task from time to time if each submarine needs to be monitored. Authors consider a restless version of the Multi- Armed Bandit Problem (MABP), in order to accomplish simultaneous events observation with a smaller number of aircrafts. In the specific application scenario we considered in this work, we only consider an active event at each time, but the proposed optimization model is defined to handle simultaneous events and heuristics can easily be tailored to consider events occurring at the same time. Moreover, in [16] authors do not introduce explicitly the soft time windows concept. In fact, while a submarine is under observation information associated to are gained. While it is not, information is being lost. In our approach, we explicitly introduce the satisfaction parameter in order to quantify the degree of observation of the events and we measure the effectiveness of the approaches in terms of degree of satisfaction and in terms of costs, namely, the distance traveled by UAVs.
In [8] the main goal is to provide overview images of certain regions with a specified resolution. Typically they need multiple images in order a cer- tain area to be covered. Optimization criteria are minimizing the number of pictures and energy consumption and maximizing the coverage. They formu- late their problem as an integer linear programming model. In practice, they consider only a spatial coverage type while the optimization formulation and the heuristics we derived focus on both spatial and temporal coverage. In fact, we formulate our problem as a particular instance of the VRP.
An example of dynamic UAV routing problem is considered in [6]. Specif- ically, they focus on scheduling UAVs in military operations subject to dy- namic movement and control constraints. In their approach, the authors do not consider explicitly time windows concept while we need to introduce ex- plicitly the concept of time in order to make the dynamic scheduling more effective with time constraints applications. Moreover, they consider a cen- tral far controller and take into account of this in the mathematical model.
While, we assume UAVs able to communicate and self-organize in a dis-
tributed fashion. In [17] authors consider a VRP with soft time windows in a
fuzzy random environment. They focus on the minimization of the distance
traveled and the maximization of the satisfaction of the customers. The con-
cept of soft time windows is realized through the concept of fuzzy random
environment.
Figure 1: Event soft time window
3. Problem Statement and Mathematical Formulation
The considered scenario is characterized by a set of UAVs that fly over a finite dimension area in order to reach all the events, which occur in a finite time horizon. The satisfaction degree achieved by the customer is determined by considering the instant of the time that a drone reaches a particular event location. Indeed, it is a measure of the temporal event coverage.
To better understand how the described scenario can be mathematically represented as a particular instance of the VRP with Soft Time Windows (VRP-STW), it is useful to introduce its key components, namely events, UAVs movement and customer satisfaction.
3.1. Events
The particular scenario under consideration is spatially located inside a limited area and temporally placed in a finite time frame. In this space-time location, it is assumed that the events occur in a random way.
An event is spatially characterized by the x-y-z coordinates, to identify the location inside the area. The Euclidean distance is used to evaluate the distance among the events.
As far as the temporal dimension is concerned, an event is characterized by a finite time frame, representing its time window (Fig. 1). In this context, the time is is related to the instant at which the drones meet the event to be monitored.
The time window associated to each event is defined by three instants of time: t birth , t start and t stop . The first, t birth , represents the event’s birth, instead the instant of the time when the event starts working is t start . The instant in which the event terminates coincides with t stop .
In order to better explain the meanings of the three different instant of
times in terms of their relation to the events, it is useful to consider the
following example, related to the refueling of the cars during a car race.
Most race cars do not carry enough fuel to complete a race from start to finish. They must return to the pit area for more fuel, which is commonly called pit stop. During the pit stop, team’s pit crew quickly puts new tires on the car while fueling to the car.
Let’s consider an area where each race team has a space reserved for the refueling of its car: a car must reach its pit area to be refueled. In our example the event consists of the car refueling. The UAVs, flying over the pit area, must reach all the events in order to film the refueling of the race cars.
The three instant of the times characterizing each event, can be described as follows:
• t birth : is the instant of the time when the race car reaches its pit area;
• t start : is the instant of the time when the refueling takes place;
• t stop : is the instant of the time when the refueling operations are com- pleted and the race car leaves the pit area.
Naturally, a UAV knows a new event only when the race car reaches its pit area and the time to achieve that area could be greater than the time between t birth and t start . Therefore the satisfaction of viewers will depend on the instant of arrival of the drone.
Another important assumption for the development of the mathematical model is related to the first m actions. They are dummy event locations used to represent the UAVs initial positions. Thus, no time windows are associated to these events, but they simply are born at the scenario starting time instant and remain active for the all duration of the scenario itself.
In addition, since the drones starting positions must not be reached, these events do not influence the customer’s satisfaction degree.
Similar considerations are valid for the last event: it does not contribute to the evaluation of the customer’s satisfaction, but unlike the initial events, a time window is associated with it and it represents a “useful position” that all the drones must reach. The corresponding movements, however, do not contribute to the total distance travelled by the drones. It can be viewed as a meeting place where, for example, it is possible to perform maintenance operations.
All the other events locations must be reached by exactly one drone and
it must stay in the event location until the time window ends.
3.2. UAVs movement
As far as the characterization of drones movement is concerned, we refer to UAV as any aircraft capable of moving autonomously at constant and homogeneous speed, for which a maximum feasible distance to be traveled is defined. We assume that UAVs are equipped with cameras, a positioning system, storage memory and a wireless transceiver. We assume that the units are able to communicate to each other in a distributed fashion and are able to self-organize. Moreover, they are capable of identifying and localizing a target by some radio frequency identification tag applied on it or by using a sensor network [13] [9] [14] placed at the sides of the field and capable of locating the target and communicating to the drones. They can move in the three-dimensional space. However, for the sake of the simplicity, in this paper the third dimension is not taken into account. Indeed, we assume that the drones lie and move on a plane parallel to the plane where the events occur.
An event is monitored by a drone when the event position represented by the x-y coordinates coincides with the drone x-y location.
3.3. Customer satisfaction
The customer satisfaction represents a measure of the fulfillment of cus- tomer expectations and it is related to the way in which the different events are monitored by the drones.
Consequently, it depends on the instant of time in which a drone reaches the event’s location. More specifically, if the drone arrives at the events location before t start , the customer satisfaction assumes the maximum value.
It decreases linearly and it becomes 0 when the event ends before the drone could reach it.
Mathematically, the satisfaction obtained by the customer (S i k ), as in Fig.
1, can be described as follows:
S max t k arr,i < t start,i
−S max · t t
karr,i−t
start,istop,i