Robert Pěnička presents Metaheuristic planner for cooperative multi-agent wall construction with UAVs

On 2023-10-03 11:00:00 at E112, Karlovo náměstí 13, Praha 2
During the seminar, I will present our work on planning near-time-optimal plans
for building walls with Aerial Robots.

B. Elkhapery, R. Pěnička, M. Němec, M. Siddiqui, "Metaheuristic planner for
cooperative multi-agent wall construction with UAVs," in Automation in
Construction, vol. 152, April 2023, doi: 10.1016/j.autcon.2023.104908.

Paper Abstract:
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
this, the wall-building problem is modeled as a variant of the Team
Problem and is formulated as Mixed-Integer Linear Programming (MILP), with
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
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


The seminar will be of a short length (20 minutes + 10 minutes discussion).
Za obsah zodpovídá: Petr Pošík