Robust planning for unmanned underwater vehicles
Name
868235613-MIT.pdf
Description
Full printable version
Size
3.16 MB
Format
Adobe PDF
Checksum (MD5)
48701fbdcd1322d65e9e69a5bb431e74
Author(s)
Frost, Emily Anne
Advisor(s)
Dimitris Bertsimas and Julie Shah.
Alternative Title
Robust planning for UUVs
Date Issued
2013
Publisher
Massachusetts Institute of Technology
Abstract
In this thesis, I design and implement a novel method of schedule and path selection between predetermined waypoints for unmanned underwater vehicles under uncertainty. The problem is first formulated as a mixed-integer optimization model and subsequently uncertainty is addressed using a robust optimization approach. Solutions were tested through simulation and computational results are presented which indicate that the robust approach handles larger problems than could previously be solved in a reasonable running time while preserving a high level of robustness. This thesis demonstrates that the robust methods presented can solve realistic-sized problems in reasonable runtimes - a median of ten minutes and a mean of thirty minutes for 32 tasks - and that the methods perform well both in terms of expected reward and robustness to disturbances in the environment. The latter two results are obtained by simulating solutions given by the deterministic method, a naive robust method, and finally the two restricted affine robust policies. The two restricted affine policies consistently show an expected reward of nearly 100%, while the deterministic and naive robust methods achieve approximately 50% of maximum reward possible.
Description
Thesis (S.M.)--Massachusetts Institute of Technology, Sloan School of Management, Operations Research Center, 2013.
Cataloged from PDF version of thesis.
Includes bibliographical references (pages 59-60).
Subjects
Operations Research Center.
MIT Department
Massachusetts Institute of Technology. Operations Research Center
Sloan School of Management
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