This paper presents an efficient optimization framework that solves trajectory optimization problems efficiently by decoupling state variables from timing variables, thereby decomposing a challenging nonlinear programming (NLP) problem into two easier subproblems. With timing fixed, the state variables can be optimized efficiently using convex optimization, and so the time variables can be optimized using a separate outer optimization. This is a bilevel optimization in which the outer objective function itself requires an optimization to compute. The challenge is that gradient optimization methods require the gradient of the objective function with respect to the time variables, which is not available. Whereas the finite difference method must solve many optimization problems to compute a gradient, this paper proposes a more efficient method: the dual solution (Lagrange multipliers) of the convex optimization problem is exploited to calculate the analytical gradient. Since the dual solution is a by-product of the convex optimization problem, the gradient can be obtained for free' with high accuracy. The framework is demonstrated on solving minimum-jerk trajectory optimization problems in safety corridors for unmanned aerial vehicles (UAVs). Experiments demonstrate that bilevel optimization improves performance over a standard NLP solver, and analytical gradients outperforms finite differences. With a 40 ,ms cutoff time, our approach achieves over 8 times better suboptimality than the current state-of-the-art.
More broadly, the idea of decomposition and divide-and-conquer has been explored in the Benders Decomposition (BD) @cite_15 and Generalized Benders Decomposition (GBD) @cite_8 , which are well-known techniques in operations research. In the GBD formulation, are variables which would make the optimization problem considerably more tractable when temporarily fixed. The idea of GBD is to split the original optimization problem into two: a and a subproblem. The is generated by temporarily fixing the of the original problem, and in BD these are usually integer variables. In the case of trajectory optimization, the complicating variables are times allocated to each segment. This approach is also closely related to bilevel optimization @cite_3 , which refers to a mathematical program where one optimization problem has another optimization problem as one of its constraints, that is, one optimization task is embedded within another. The outer optimization task is often referred to as the and the inner optimization task is known to be the . Bilevel optimization is well-known in production and marketing decision making, and we refer readers to @cite_3 @cite_10 for more comprehensive treatments of the topic.
@cite_15 @cite_10 @cite_3 @cite_8
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This paper describes a Benders decomposition-based framework for solving the large scale energy management problem that was posed for the ROADEF 2010 challenge. The problem was taken from the power industry and entailed scheduling the outage dates for a set of nuclear power plants, which need to be regularly taken down for refueling and maintenance, in such a way that the expected cost of meeting the power demand in a number of potential scenarios is minimized. We show that the problem structure naturally lends itself to Benders decomposition; however, not all constraints can be included in the mixed integer programming model. We present a two phase approach that first uses Benders decomposition to solve the linear programming relaxation of a relaxed version of the problem. In the second phase, integer solutions are enumerated and a procedure is applied to make them satisfy constraints not included in the relaxed problem. To cope with the size of the formulations arising in our approach we describe efficient preprocessing techniques to reduce the problem size and show how aggregation can be applied to each of the subproblems. Computational results on the test instances show that the procedure competes well on small instances of the problem, but runs into difficulty on larger ones. Unlike heuristic approaches, however, this methodology can be used to provide lower bounds on solution quality. We consider a generalization of the classical quadratic assignment problem, where material flows between facilities are uncertain, and only upper and lower bounds are known for each flow. The objective is to find a minmax regret solution. We present an exact Benders decomposition algorithm based on two developed mathematical programming formulations and on the developed linearizations of master problems, and a heuristic based on using tabu search in the context of a Benders decomposition framework. Then, we develop a hybrid Benders decomposition approach that allows us to combine the speed of heuristics with the rigor and precision of the exact Benders method. We discuss the results of extensive computational experiments. Decomposition is a well-known strategy in traditional multiobjective optimization. However, the decomposition strategy was not widely employed in evolutionary multiobjective optimization until Zhang and Li proposed multiobjective evolutionary algorithm based on decomposition (MOEA D) in 2007. MOEA D proposed by Zhang and Li decomposes a multiobjective optimization problem into a number of scalar optimization subproblems and optimizes them in a collaborative manner using an evolutionary algorithm (EA). Each subproblem is optimized by utilizing the information mainly from its several neighboring subproblems. Since the proposition of MOEA D in 2007, decomposition-based MOEAs have attracted significant attention from the researchers. Investigations have been undertaken in several directions, including development of novel weight vector generation methods, use of new decomposition approaches, efficient allocation of computational resources, modifications in the reproduction operation, mating selection and replacement mechanism, hybridizing decomposition- and dominance-based approaches, etc. Furthermore, several attempts have been made at extending the decomposition-based framework to constrained multiobjective optimization, many-objective optimization, and incorporate the preference of decision makers. Additionally, there have been many attempts at application of decomposition-based MOEAs to solve complex real-world optimization problems. This paper presents a comprehensive survey of the decomposition-based MOEAs proposed in the last decade. Many-objective problems (MAPs) have put forward a number of challenges to classical Pareto-dominance based multi-objective evolutionary algorithms (MOEAs) for the past few years. Recently, researchers have suggested that MOEA D (multi-objective evolutionary algorithm based on decomposition) can work for MAPs. However, there exist two difficulties in applying MOEA D to solve MAPs directly. One is that the number of constructed weight vectors is not arbitrary and the weight vectors are mainly distributed on the boundary of weight space for MAPs. The other is that the relationship between the optimal solution of subproblem and its weight vector is nonlinear for the Tchebycheff decomposition approach used by MOEA D. To deal with these two difficulties, we propose an improved MOEA D with uniform decomposition measurement and the modified Tchebycheff decomposition approach (MOEA D-UDM) in this paper. Firstly, a novel weight vectors initialization method based on the uniform decomposition measurement is introduced to obtain uniform weight vectors in any amount, which is one of great merits to use our proposed algorithm. The modified Tchebycheff decomposition approach, instead of the Tchebycheff decomposition approach, is used in MOEA D-UDM to alleviate the inconsistency between the weight vector of subproblem and the direction of its optimal solution in the Tchebycheff decomposition approach. The proposed MOEA D-UDM is compared with two state-of-the-art MOEAs, namely MOEA D and UMOEA D on a number of MAPs. Experimental results suggest that the proposed MOEA D-UDM outperforms or performs similarly to the other compared algorithms in terms of hypervolume and inverted generational distance metrics on different types of problems. The effects of uniform weight vector initializing method and the modified Tchebycheff decomposition are also studied separately.