CBM-pop optimization for MDVRP

Distributed Coalition-Based Metaheuristic optimization for Multi-Depot Vehicle Routing Problems with capacity and precedence constraints.

Documentation: https://barbara0811.github.io/cbm_pop_mdvrp_optimization

Requirements:

ROS melodic (http://wiki.ros.org/melodic)

Init and build the workspace

1. Setup a catkin workspace: https://catkin-tools.readthedocs.io/en/latest/quick_start.html
2. Clone this repository to the workspace's src/ folder
3. Run catkin build
4. Make sure you have the devel/setup.bash sourced

Run the optimization example

The example CBM-pop agent (CBMPopAgentNode) is made for Cordeau benchmark examples (https://neo.lcc.uma.es/vrp/vrp-instances/description-for-files-of-cordeaus-instances/), which are included in the data folder. For a custom optimization problem implementation, it is necessary to implement specific CBMPopAgent and CBMPopAlgorithm objects.

Best found solutions and more information on the dataset can be found at https://sites.google.com/view/vrp-task-planning/c-mdvrp-benchmark.

1. Run several CBM-pop agents (in different terminals):

roslaunch cbm_pop_mdvrp cbm_pop_agent.launch name:=<agent name>

2. Launch the mission:

rostopic pub /optimize std_msgs/String "data: '<example_id>'"

Use example:

roslaunch cbm_pop_mdvrp cbm_pop_agent.launch name:=ag1
roslaunch cbm_pop_mdvrp cbm_pop_agent.launch name:=ag2
roslaunch cbm_pop_mdvrp cbm_pop_agent.launch name:=ag3
rostopic pub /optimize std_msgs/String "data: 'p01'"