robin-shaun / multi-uav-task-assignment-benchmark Goto Github PK

self.k1 = 0.03 is defined in the file aco.py but not used. What does k1 stand for？

作者您好，请问在ga.py中gene的前vehicle_num-1个元素代表什么，以及ins的作用是什么，没有想清楚怎样根据seq将任务分配到vehicle_num辆无人机

aco_task_assignmet = aco_result.get()[0]

File "D:\Anaconda3\lib\multiprocessing\pool.py", line 657, in get
raise self._value
ValueError: list.remove(x): x not in list
Hello, the above problems may occur in the process of operation. After repeated run, it is found that this problem sometimes occurs early and sometimes late. May I ask why?

Could it be possible to adapt all the algorithms to consider the constraint of returning to the depot? How should it be made?

Great work. It is easy to integrate new algorithms and the graphical output is awesome.

I have only 4 minor issues:

1. https://numba.pydata.org/ is easy to use and can speed up GA up to factor 100
   without significant code changes.

2. Only weak algorithms are provided. Very nice for pedagogical purposes, but
   a state-of-the-art algorithm which is challenging to beat is missing.

3. multiprocessing.Pool creates daemonic processes. This prevents experiments
   with multi-threaded algorithms.

4. A multi-objective problem variant - together with the corresponding optimizer(s) is missing.

I created a fork https://github.com/dietmarwo/Multi-UAV-Task-Assignment-Benchmark
fixing all these issues. I can create pull requests if you are interested in some of these fixes. See also https://github.com/dietmarwo/fast-cma-es/blob/master/tutorials/UAV.adoc .

We should make sure that a future comparison with reinforcement learning is fair:
Machine learning uses many GPU cores, so we should utilize parallelization
also when applying optimization.

运行evaluate.py后，过程中会出现aco.py里面的报错，错误发生在第82行unvisit_list.remove(visit_next)#update，报错内容大致是remove()失败，没有visit_next内容什么的