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View Code? Open in Web Editor NEWLibary with Simple Temporal Networks (STN) for representing robot tasks
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Robot uses a combination of its dispatchable graph and the STN of a new task when computing bids
An STN represents tasks with temporal constraints.
A dispatchable graph is a dispatchable version of the STN which bounds the original constraints to make the STN consistent.
When computing the bid for a new task, the STN should be used.
In the current version, the new task is added to the dispatchable graph but not to the STN.
Possible solution:
Store the STN
Add task to STN and compute new dispatchable graph
If the dispatchable graph is allocated to the robot, update both, the STN and the dispatchable graph.
LP solve does not start with an Empty problem
Issue:
probBase: PSTN Robust Execution LP:
MAXIMIZE
None
SUBJECT TO
_C1: t_0_hi - t_0_lo >= 0
_C2: t_1_hi - t_1_lo >= 0
_C3: t_2_hi - t_2_lo >= 0
_C4: t_3_hi - t_3_lo >= 0
VARIABLES
t_0_hi = 0 Continuous
t_0_lo = 0 Continuous
t_1_hi <= 47 Continuous
t_1_lo <= 47 Continuous
41 <= t_2_hi <= 47 Continuous
41 <= t_2_lo <= 47 Continuous
41 <= t_3_hi <= 1.79769313486e+308 Continuous
41 <= t_3_lo <= 1.79769313486e+308 Continuous
[DEBUG] 2019-06-29 22:22:27 [scheduler.srea ] trying alpha 0.499
Welcome to the CBC MILP Solver
Version: 2.9.0
Build Date: Feb 12 2015
command line - /home/angela/.local/lib/python3.5/site-packages/pulp/solverdir/cbc/linux/64/cbc /tmp/0fa257d1aea3477ca75913226558d443-pulp.mps max branch printingOptions all solution /tmp/0fa257d1aea3477ca75913226558d443-pulp.sol (default strategy 1)
At line 2 NAME MODEL
At line 3 ROWS
At line 13 COLUMNS
At line 38 RHS
At line 47 BOUNDS
At line 62 ENDATA
Problem MODEL has 8 rows, 12 columns and 20 elements
Coin0008I MODEL read with 0 errors
Presolve 1 (-7) rows, 2 (-10) columns and 2 (-18) elements
0 Obj 5.1689761 Dual inf 1.999998 (2)
2 Obj 9.8157144
Optimal - objective value 9.8157144
After Postsolve, objective 9.8157144, infeasibilities - dual 0 (0), primal 0 (0)
Optimal objective 9.815714362 - 2 iterations time 0.002, Presolve 0.00
Option for printingOptions changed from normal to all
Total time (CPU seconds): 0.00 (Wallclock seconds): 0.00
[DEBUG] 2019-06-29 22:22:27 [scheduler.srea ] Status: Optimal
[DEBUG] 2019-06-29 22:22:27 [scheduler.srea ] delta_1_2 = 0.0
[DEBUG] 2019-06-29 22:22:27 [scheduler.srea ] delta_2_1 = 0.0
[DEBUG] 2019-06-29 22:22:27 [scheduler.srea ] delta_2_3 = 1.8428564
[DEBUG] 2019-06-29 22:22:27 [scheduler.srea ] delta_3_2 = 7.972858
[DEBUG] 2019-06-29 22:22:27 [scheduler.srea ] t_0_hi = 0.0
[DEBUG] 2019-06-29 22:22:27 [scheduler.srea ] t_0_lo = 0.0
[DEBUG] 2019-06-29 22:22:27 [scheduler.srea ] t_1_hi = 40.320619
[DEBUG] 2019-06-29 22:22:27 [scheduler.srea ] t_1_lo = 40.320619
[DEBUG] 2019-06-29 22:22:27 [scheduler.srea ] t_2_hi = 47.0
[DEBUG] 2019-06-29 22:22:27 [scheduler.srea ] t_2_lo = 45.646738
[DEBUG] 2019-06-29 22:22:27 [scheduler.srea ] t_3_hi = 53.522238
[DEBUG] 2019-06-29 22:22:27 [scheduler.srea ] t_3_lo = 41.0
Output using https://github.com/HEATlab/DREAM.git
[DEBUG] 2019-06-30 09:47:30 [scheduler.srea ] probBase: PSTN Robust Execution LP:
MAXIMIZE
None
SUBJECT TO
_C1: t_0_hi - t_0_lo >= 0
_C2: t_1_hi - t_1_lo >= 0
_C3: t_2_hi - t_2_lo >= 0
_C4: t_3_hi - t_3_lo >= 0
VARIABLES
t_0_hi = 0 Continuous
t_0_lo = 0 Continuous
t_1_hi <= 47 Continuous
t_1_lo <= 47 Continuous
41 <= t_2_hi <= 47 Continuous
41 <= t_2_lo <= 47 Continuous
41 <= t_3_hi <= 1.79769313486e+308 Continuous
41 <= t_3_lo <= 1.79769313486e+308 Continuous
[DEBUG] 2019-06-30 09:47:30 [scheduler.srea ] trying alpha 0.499
Welcome to the CBC MILP Solver
Version: 2.9.0
Build Date: Feb 12 2015
command line - /home/angela/.local/lib/python3.5/site-packages/pulp/solverdir/cbc/linux/64/cbc /tmp/0f29bd1f809548cfa165db4fdc6fb68f-pulp.mps max branch printingOptions all solution /tmp/0f29bd1f809548cfa165db4fdc6fb68f-pulp.sol (default strategy 1)
At line 2 NAME MODEL
At line 3 ROWS
At line 13 COLUMNS
At line 38 RHS
At line 47 BOUNDS
At line 64 ENDATA
Problem MODEL has 8 rows, 12 columns and 20 elements
Coin0008I MODEL read with 0 errors
Presolve 0 (-8) rows, 0 (-12) columns and 0 (-20) elements
Empty problem - 0 rows, 0 columns and 0 elements
Optimal - objective value 7.8115106
After Postsolve, objective 7.8115106, infeasibilities - dual 0 (0), primal 0 (0)
Optimal objective 7.811510645 - 0 iterations time 0.002, Presolve 0.00
Option for printingOptions changed from normal to all
Total time (CPU seconds): 0.00 (Wallclock seconds): 0.00
[DEBUG] 2019-06-30 09:47:30 [scheduler.srea ] Status: Optimal
delta_1_2 = 2.0628989
delta_2_1 = 1.8428564
delta_2_3 = 2.0628989
delta_3_2 = 1.8428564
t_0_hi = 0.0
t_0_lo = 0.0
t_1_hi = 38.25772
t_1_lo = 37.516737
t_2_hi = 47.0
t_2_lo = 41.0
t_3_hi = 53.74228
t_3_lo = 42.483263
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