A mark-based hierarchical asynchronous temporal constraints reasoning algorithm for multi-agent mission planning

Bang Wang, Rui Xu, Dengyun Yu, Zhaoyu Li*, Siyao Lu

*此作品的通讯作者

科研成果: 期刊稿件文章同行评审

摘要

The establishment of a lunar base requires the collaborative cooperation of multiple lunar rovers. The efficiency of rovers’ mission planning can be increased by quickly determining whether the numerous temporal constraints between the activities of rovers are consistent. This research focuses on constructing a new and efficient algorithm to solve the complex temporal constraint problem in mission planning for lunar rovers. A mark-based centralized arc-consistency algorithm is proposed to filter unnecessary constraint checks depending on whether the mark of each variable changes. It improves computational efficiency and we prove the rationality of the algorithm theoretically. Then, based on the algorithm mentioned above, a mark-based hierarchical asynchronous algorithm is proposed to reduce the iterations of temporal constraints reasoning through asynchronous computation. At the same time, each rover tightens its local variables’ domains to a minimum before interacting with other rovers, which reduces the impact of locally shared variables on the outside. This avoids the problem of reduced computational efficiency caused by the waiting time of asynchronous computing. Finally, we conduct comprehensive experiments on different types of benchmark datasets, and the results show that the mark-based hierarchical asynchronous algorithm can improve efficiency by up to 47.64 % and reduce the number of constraint checks by up to 89.26 % compared to existing algorithms, which also benefits to reduce the number of communication messages and iterations.

源语言英语
文章编号123624
期刊Expert Systems with Applications
249
DOI
出版状态已出版 - 1 9月 2024

指纹

探究 'A mark-based hierarchical asynchronous temporal constraints reasoning algorithm for multi-agent mission planning' 的科研主题。它们共同构成独一无二的指纹。

引用此

Wang, B., Xu, R., Yu, D., Li, Z., & Lu, S. (2024). A mark-based hierarchical asynchronous temporal constraints reasoning algorithm for multi-agent mission planning. Expert Systems with Applications, 249, 文章 123624. https://doi.org/10.1016/j.eswa.2024.123624