An analytical hierarchy process-based approach to solve the multi-objective multiple traveling salesman problem

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We consider the problem of assigning a team of autonomous robots to target locations in the context of a disaster management scenario while optimizing several objectives. This problem can be cast as a multiple traveling salesman problem, where several robots must visit designated locations. This paper provides an analytical hierarchy process (AHP)-based approach to this problem, while minimizing three objectives: the total traveled distance, the maximum tour, and the deviation rate. The AHP-based approach involves three phases. In the first phase, we use the AHP process to define a specific weight for each objective. The second phase consists in allocating the available targets, wherein we define and use three approaches: market-based, robot and task mean allocation-based, and balanced-based. Finally, the third phase involves the improvement in the solutions generated in the second phase


Original languageEnglish
Pages (from-to)355- 396
Number of pages11
JournalIntelligent Service Robotics
Issue number4
Publication statusPublished - 1 Oct 2018