def objfun(x, *arg):
robots = arg[0]
tasks = arg[1]
alpha = x[0]
beta = x[1]
gamma = x[2]
zeta = [3]
MRTA = MultiRobotTaskAllocation(robots, tasks)
func = MRTA.run(alpha, beta, gamma, zeta)
return func
def objfun(alpha, beta, gamma, zeta):
robots = np.load("random_initial_robots.npy")
tasks = np.load("random_initial_tasks.npy")
MRTA = MultiRobotTaskAllocation(robots, tasks)
func = -MRTA.run(alpha, beta, gamma, zeta)
return func
# sample_tasks = np.concatenate((sample_tasks, np.random.rand(num_tasks, 1)*100), axis=1) # battery level information
# sample_tasks = np.concatenate((sample_tasks, np.random.randint(1, 3, (num_tasks, 1))*0.1), axis=1) # energy efficiency information
# sample_tasks = np.concatenate((sample_tasks, np.random.randint(0, num_types, (num_tasks, num_types))), axis=1) # type information
# sample_tasks = np.insert(sample_tasks, 4, 0, axis=1) # charging station task
# print(sample_tasks)
# np.save("random_initial_tasks", sample_tasks)
sample_tasks = np.load("random_initial_tasks.npy")
# print(sample_tasks)
# np.savetxt("random_initial_tasks.txt", sample_tasks)
# print(sample_tasks)
# aergvare
print("sample robots: \n", sample_robots)
print("sample tasks: \n", sample_tasks)
MRTA = MultiRobotTaskAllocation(sample_robots, sample_tasks)
# MRTA.run()
def objfun(x, *arg):
robots = arg[0]
tasks = arg[1]
alpha = x[0]
beta = x[1]
gamma = x[2]
zeta = [3]
MRTA = MultiRobotTaskAllocation(robots, tasks)
func = MRTA.run(alpha, beta, gamma, zeta)
return func
# [0, 23, 10, 0, 0, 0, 0, 0, 0, 0],
# [0, 23, 10, 0, 0, 0, 0, 0, 0, 0],
# [0, 23, 10, 0, 0, 0, 0, 0, 0, 0],
# [0, 23, 10, 0, 0, 0, 0, 0, 0, 0],
# [0, 23, 10, 0, 0, 0, 0, 0, 0, 0]
# ])
# # randomly generated objectives:
# sample_tasks = np.transpose([np.linspace(0, num_tasks-1, num=num_tasks, axis=0)]) # task index
# # print(sample_tasks)
# sample_tasks = np.concatenate((sample_tasks, np.random.rand(num_tasks, 2)*10), axis=1) # position information
# sample_tasks = np.concatenate((sample_tasks, np.random.rand(num_tasks, 1)*100), axis=1) # battery level information
# sample_tasks = np.concatenate((sample_tasks, np.random.randint(1, 3, (num_tasks, 1))*0.1), axis=1) # energy efficiency information
# sample_tasks = np.concatenate((sample_tasks, np.random.randint(0, num_types, (num_tasks, num_types))), axis=1) # type information
# sample_tasks = np.insert(sample_tasks, 4, 0, axis=1) # charging station task
# print(sample_tasks)
# np.save("random_initial_tasks", sample_tasks)
sample_tasks = np.load("random_initial_tasks.npy")
# print(sample_tasks)
# np.savetxt("random_initial_tasks.txt", sample_tasks)
# print(sample_tasks)
# aergvare
print("sample robots: \n", sample_robots)
print("sample tasks: \n", sample_tasks)
MRTA = MultiRobotTaskAllocation(sample_robots, sample_tasks, save_data=True)
MRTA.run(2.2867975297601477, 1.2172393070417535, -1.2983878440623928, -8.620057169901632)