Please use this identifier to cite or link to this item: http://hdl.handle.net/11328/3710
Title: A Dijkstra-inspired graph algorithm for fully autonomous tasking in industrial applications
Authors: Lotfi, Mohamed
Osório, Gerardo J.
Javadi, Mohammad
Ashraf, Abdelrahman
Zahran, Mustafa
Samih, Georges
Catalão, João P. S.
Keywords: Graph theory
Algorithms
Task scheduling
Energy management
Dijkstra
Industrial applications
Issue Date: Sep-2021
Publisher: Instituto de Engenheiros Elétricos e Eletrônicos
Citation: Lotfi, M., Osório, G. J., Javadi, M, Ashraf, A., Zahran, M., Samih, G., & Catalão, J. P. S. (221). A Dijkstra-inspired graph algorithm for fully autonomous tasking in industrial applications. IEEE Transactions on Industry Applications, 57(5), 5448-5460. DOI: 10.1109/TIA.2021.3091418. Disponível no Repositório UPT, http://hdl.handle.net/11328/3710
Abstract: An original graph-based model and algorithm for optimal industrial task scheduling are proposed in this article. The innovative algorithm designed, dubbed “Dijkstra optimal tasking” (DOT), is suitable for fully distributed task scheduling of autonomous industrial agents for optimal resource allocation, including energy use. The algorithm was designed starting from graph theory fundamentals, from the ground up, to guarantee a generic nature, making it applicable on a plethora of tasking problems and not case-specific. For any industrial setting in which mobile agents are responsible for accomplishing tasks across a site, the objective is to determine the optimal task schedule for each agent, which maximizes the speed of task achievement while minimizing the movement, thereby minimizing energy consumption cost. The DOT algorithm is presented in detail in this manuscript, starting from the conceptualization to the mathematical formulation based on graph theory, having a thorough computational implementation and a detailed algorithm benchmarking analysis. The choice of Dijkstra, as opposed to other shortest path methods (namely, A * Search and Bellman-Ford) in the proposed graph-based model and algorithm, was investigated and justified. An example of a real-world application based on a refinery site is modeled and simulated and the proposed algorithm's effectiveness and computational efficiency are duly evaluated. A dynamic obstacle course was incorporated to effectively demonstrate the proposed algorithm's applicability to real-world applications.
URI: http://hdl.handle.net/11328/3710
ISSN: 1939-9367
Appears in Collections:REMIT – Artigos em Revistas Internacionais / Papers in International Journals

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