Pick, Pack, & Survive : Charging Robots in a Modern Warehouse based on Online Connected Dominating Sets
Pick, Pack, & Survive : Charging Robots in a Modern Warehouse based on Online Connected Dominating Sets
Date
2018
Authors
Editors
Journal ISSN
Electronic ISSN
ISBN
Bibliographical data
Publisher
Series
URI (citable link)
DOI (citable link)
International patent number
Link to the license
EU project number
Project
Open Access publication
Collections
Title in another language
Publication type
Contribution to a conference collection
Publication status
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.
Summary in another language
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
Review
undefined / . - undefined, undefined. - (undefined; undefined)
Cite This
ISO 690
HAMANN, 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.2018.22BibTex
@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}, address={Wadern}, 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} }
RDF
<rdf:RDF xmlns:dcterms="http://purl.org/dc/terms/" xmlns:dc="http://purl.org/dc/elements/1.1/" xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#" xmlns:bibo="http://purl.org/ontology/bibo/" xmlns:dspace="http://digital-repositories.org/ontologies/dspace/0.1.0#" xmlns:foaf="http://xmlns.com/foaf/0.1/" xmlns:void="http://rdfs.org/ns/void#" xmlns:xsd="http://www.w3.org/2001/XMLSchema#" > <rdf:Description rdf:about="https://kops.uni-konstanz.de/server/rdf/resource/123456789/59865"> <dcterms:abstract xml:lang="eng">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.</dcterms:abstract> <dcterms:title>Pick, Pack, & Survive : Charging Robots in a Modern Warehouse based on Online Connected Dominating Sets</dcterms:title> <void:sparqlEndpoint rdf:resource="http://localhost/fuseki/dspace/sparql"/> <dcterms:available rdf:datatype="http://www.w3.org/2001/XMLSchema#dateTime">2023-01-20T13:11:10Z</dcterms:available> <dc:creator>Markarian, Christine</dc:creator> <dc:language>eng</dc:language> <dc:contributor>Hamann, Heiko</dc:contributor> <dc:creator>Meyer auf der Heide, Friedhelm</dc:creator> <dspace:isPartOfCollection rdf:resource="https://kops.uni-konstanz.de/server/rdf/resource/123456789/36"/> <dc:date rdf:datatype="http://www.w3.org/2001/XMLSchema#dateTime">2023-01-20T13:11:10Z</dc:date> <dcterms:issued>2018-06-04</dcterms:issued> <dc:creator>Hamann, Heiko</dc:creator> <dcterms:isPartOf rdf:resource="https://kops.uni-konstanz.de/server/rdf/resource/123456789/36"/> <dc:contributor>Wahby, Mostafa</dc:contributor> <dc:contributor>Meyer auf der Heide, Friedhelm</dc:contributor> <foaf:homepage rdf:resource="http://localhost:8080/"/> <dc:rights>terms-of-use</dc:rights> <dcterms:rights rdf:resource="https://rightsstatements.org/page/InC/1.0/"/> <dcterms:hasPart rdf:resource="https://kops.uni-konstanz.de/bitstream/123456789/59865/1/Hamann_2-1r10n989svqfn7.pdf"/> <dc:contributor>Markarian, Christine</dc:contributor> <dspace:hasBitstream rdf:resource="https://kops.uni-konstanz.de/bitstream/123456789/59865/1/Hamann_2-1r10n989svqfn7.pdf"/> <dc:creator>Wahby, Mostafa</dc:creator> <bibo:uri rdf:resource="https://kops.uni-konstanz.de/handle/123456789/59865"/> </rdf:Description> </rdf:RDF>
Internal note
xmlui.Submission.submit.DescribeStep.inputForms.label.kops_note_fromSubmitter
Examination date of dissertation
Method of financing
Comment on publication
Alliance license
Corresponding Authors der Uni Konstanz vorhanden
International Co-Authors
Bibliography of Konstanz
No