## Pick, Pack, & Survive : Charging Robots in a Modern Warehouse based on Online Connected Dominating Sets

2018
##### Authors
Markarian, Christine
Meyer auf der Heide, Friedhelm
##### Publication type
Contribution to a conference collection
Published
##### Published in
FUN 2018 : 9th International Conference on Fun with Algorithms / Ito, Hiro; Leonardi, Stefano; Pagli, Linda et al. (ed.). - Wadern : Schloss Dagstuhl : Leibniz-Zentrum fuer Informatik, 2018. - (Leibniz International Proceedings in Informatics (LIPIcs) ; 100). - 22. - eISSN 1868-8969. - ISBN 978-3-95977-067-5
##### Abstract
The modern warehouse is partially automated by robots. Instead of letting human workers walk into shelfs and pick up the required stock, big groups of autonomous mobile robots transport the inventory to the workers. Typically, these robots have an electric drive and need to recharge frequently during the day. When we scale this approach up, it is essential to place recharging stations strategically and as soon as needed so that all robots can survive. In this work, we represent a warehouse topology by a graph and address this challenge with the Online Connected Dominating Set problem (OCDS), an online variant of the classical Connected Dominating Set problem [Guha and Khuller, 1998]. We are given an undirected connected graph G = (V, E) and a sequence of subsets of V arriving over time. The goal is to grow a connected subgraph that dominates all arriving nodes and contains as few nodes as possible. We propose an O(log^2 n)-competitive randomized algorithm for OCDS in general graphs, where n is the number of nodes in the input graph. This is the best one can achieve due to Korman's randomized lower bound of Omega(log n log m) [Korman, 2005] for the related Online Set Cover problem [Alon et al., 2003], where n is the number of elements and m is the number of subsets. We also run extensive simulations to show that our algorithm performs well in a simulated warehouse, where the topology of a warehouse is modeled as a randomly generated geometric graph.
##### Subject (DDC)
004 Computer Science
##### Keywords
connected dominating set, online algorithm, competitive analysis, geometric graph, robot warehouse, recharging stations
##### Conference
FUN 2018 : 9th International Conference on Fun with Algorithms, Jun 13, 2018 - Jun 15, 2018, La Maddalena, Italy
##### Cite This
ISO 690HAMANN, Heiko, Christine MARKARIAN, Friedhelm MEYER AUF DER HEIDE, Mostafa WAHBY, 2018. Pick, Pack, & Survive : Charging Robots in a Modern Warehouse based on Online Connected Dominating Sets. FUN 2018 : 9th International Conference on Fun with Algorithms. La Maddalena, Italy, Jun 13, 2018 - Jun 15, 2018. In: ITO, Hiro, ed., Stefano LEONARDI, ed., Linda PAGLI, ed. and others. FUN 2018 : 9th International Conference on Fun with Algorithms. Wadern:Schloss Dagstuhl : Leibniz-Zentrum fuer Informatik, 22. eISSN 1868-8969. ISBN 978-3-95977-067-5. Available under: doi: 10.4230/LIPIcs.FUN.2018.22
BibTex
@inproceedings{Hamann2018-06-04Survi-59865,
year={2018},
doi={10.4230/LIPIcs.FUN.2018.22},
title={Pick, Pack, & Survive : Charging Robots in a Modern Warehouse based on Online Connected Dominating Sets},
number={100},
isbn={978-3-95977-067-5},
publisher={Schloss Dagstuhl : Leibniz-Zentrum fuer Informatik},
series={Leibniz International Proceedings in Informatics (LIPIcs)},
booktitle={FUN 2018 : 9th International Conference on Fun with Algorithms},
editor={Ito, Hiro and Leonardi, Stefano and Pagli, Linda},
author={Hamann, Heiko and Markarian, Christine and Meyer auf der Heide, Friedhelm and Wahby, Mostafa},
note={Article Number: 22}
}

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