On the optimal detection of an underwater intruder in a channel using unmanned underwater vehicles

Given a number of patrollers that are required to detect an intruder in a channel, the channel patrol problem consists of determining the periodic trajectories that the patrollers must trace out so as to maximized the probability of detection of the intruder. We formulate this problem as an optimal control problem. We assume that the patrollers' sensors are imperfect and that their motions are subject to turn‐rate constraints, and that the intruder travels straight down a channel with constant speed. Using discretization of time and space, we approximate the optimal control problem with a large‐scale nonlinear programming problem which we solve to obtain an approximately stationary solution and a corresponding optimized trajectory for each patroller. In numerical tests for one, two, and three underwater patrollers, an underwater intruder, different trajectory constraints, several intruder speeds and other specific parameter choices, we obtain new insight—not easily obtained using simply geometric calculations—into efficient patrol trajectory design under certain conditions for multiple patrollers in a narrow channel where interaction between the patrollers is unavoidable due to their limited turn rate.© 2011 Wiley Periodicals, Inc. Naval Research Logistics, 2011     

A linear programming model for design of communications networks with time varying probabilistic demands

In this paper marginal investment costs are assumed known for two kinds of equipment stocks employed to supply telecommunications services: trunks and switching facilities. A network hierarchy is defined which includes important cases occurring in the field and also appearing in the literature. A different use of the classical concept of the marginal capacity of an additional trunk at prescribed blocking probability leads to a linear programming supply model which can be used to compute the sizes of all the high usage trunk groups. The sizes of the remaining trunk groups are approximated by the linear programming models, but can be determined more accurately by alternate methods once all high usage group sizes are computed. The approach applies to larger scale networks than previously reported in the literature and permits direct application of the duality theory of linear programming and its sensitivity analyses to the study and design of switched probabilistic communications networks with multiple busy hours during the day. Numerical results are presented for two examples based on field data, one of which having been designed by the multi-hour engineering method.     

Validation of a strategy for harbor defense based on the use of a min‐max algorithm receding horizon control law

We present a validation of a centralized feedback control law for robotic or partially robotic water craft whose task is to defend a harbor from an intruding fleet of water craft. Our work was motivated by the need to provide harbor defenses against hostile, possibly suicidal intruders, preferably using unmanned craft to limit potential casualties. Our feedback control law is a sample‐data receding horizon control law, which requires the solution of a complex max‐min problem at the start of each sample time. In developing this control law, we had to deal with three challenges. The first was to develop a max‐min problem that captures realistically the nature of the defense‐intrusion game. The second was to ensure the solution of this max‐min problem can be accomplished in a small fraction of the sample time that would be needed to control a possibly fast moving craft. The third, to which this article is dedicated, was to validate the effectiveness of our control law first through computer simulations pitting a computer against a computer or a computer against a human, then through the use of model hovercraft in a laboratory, and finally on the Chesapeake Bay, using Yard Patrol boats. © 2016 Wiley Periodicals, Inc. Naval Research Logistics 63: 247–259, 2016     

Rank‐Cluster‐and‐Prune: An algorithm for generating clusters in complex set partitioning problems

Clustering problems are often difficult to solve due to nonlinear cost functions and complicating constraints. Set partitioning formulations can help overcome these challenges, but at the cost of a very large number of variables. Therefore, techniques such as delayed column generation must be used to solve these large integer programs. The underlying pricing problem can suffer from the same challenges (non‐linear cost, complicating constraints) as the original problem, however, making a mathematical programming approach intractable. Motivated by a real‐world problem in printed circuit board (PCB) manufacturing, we develop a search‐based algorithm (Rank‐Cluster‐and‐Prune) as an alternative, present computational results for the PCB problem to demonstrate the tractability of our approach, and identify a broader class of clustering problems for which this approach can be used. © 2009 Wiley Periodicals, Inc. Naval Research Logistics 2009