Kuhn-Munkres Research Articles

Coordinated Ship Welding with Optimal Lazy Robot Ratio and Energy Consumption via Reinforcement Learning

Ship welding is a crucial part of ship building, requiring higher levels of robot coordination and working efficiency than ever before. To this end, this paper studies the coordinated ship-welding task, which involves multi-robot welding of multiple weld lines consisting of synchronous ones to be executed by a pair of robots and normal ones that can be executed by one robot. To evaluate working efficiency, the objectives of optimal lazy robot ratio and energy consumption were considered, which are tackled by the proposed dynamic Kuhn–Munkres-based model-free policy gradient (DKM-MFPG) reinforcement learning algorithm. In DKM-MFPG, a dynamic Kuhn–Munkres (DKM) dispatcher is designed based on weld line and co-welding robot position information obtained by the wireless sensors, such that robots always have dispatched weld lines in real-time and the lazy robot ratio is 0. Simultaneously, a model-free policy gradient (MFPG) based on reinforcement learning is designed to achieve the energy-optimal motion control for all robots. The optimal lazy robot ratio of the DKM dispatcher and the network convergence of MFPG are theoretically analyzed. Furthermore, the performance of DKM-MFPG is simulated with variant settings of welding scenarios and compared with baseline optimization methods. Compared to the four baselines, DKM-MFPG owns a slight performance advantage within 1% on energy consumption and reduces the average lazy robot ratio by 11.30%, 10.99%, 8.27%, and 10.39%.

Dynamic unbalanced task allocation of warehouse AGVs using integrated adaptive large neighborhood search and Kuhn–Munkres algorithm

Dynamic task allocation poses a complex and challenging decision problem for automated guided vehicles operating within warehouse environments. In this study, we investigate a new method for dynamically allocating unbalanced tasks to a multi-AGV system, with a focus on real-time task arrivals. The research treats this problem as a dynamic vehicle routing problem with pickups and deliveries and proposes the use of a rolling horizon strategy to periodically reallocate tasks by iteratively solving mixed integer programming. To enhance the computational efficiency, a novel metaheuristic is developed, which integrates adaptive large neighborhood search and the Kuhn–Munkres algorithm. Comprehensive numerical experiments are conducted to demonstrate the potential of the proposed approach, in comparison with state-of-the-art heuristics and metaheuristic algorithms, providing insight into the efficiency and effectiveness of the proposed dynamic unbalanced task allocation method for multi-AGV systems in warehouse environments.

Full-Duplex Unmanned Aerial Vehicle Communications for Cellular Spectral Efficiency Enhancement Utilizing Device-to-Device Underlaying Structure

Unmanned aerial vehicle (UAV) communications have gained recognition as a promising technology due to their unique characteristics of rapid deployment and flexible configuration. Meanwhile, device-to-device (D2D) and full-duplex (FD) technologies have emerged as promising methods for enhancing spectral efficiency and offloading traffic. One significant advantage of UAVs is their ability to partition suitable D2D pairs to increase cell capacity. In this paper, we present a novel network model in which UAVs are considered D2D pairs underlaying cellular networks, integrating FD into the communication links between UAVs to improve spectral efficiency. We then investigate a resource allocation problem for the proposed FD-UAV D2D underlaying structure model, with the objective of maximizing the system’s sum rate. Specifically, the UAVs in our model operate in full-duplex mode as D2D users (DUs), allowing the reuse of both the uplink and downlink subcarrier resources of cellular users (CUs). This optimization challenge is formulated as a mixed-integer nonlinear programming problem, known for its NP-hard and intractable nature. To address this issue, we propose a heuristic algorithm (HA) that decomposes the problem into two steps: power allocation and user pairing. The optimal power allocation is solved as a nonlinear programming problem by searching among a finite set, while the user pairing problem is addressed using the Kuhn–Munkres algorithm. The numerical results indicate that our proposed FD-MaxSumCell-HA (full-duplex UAVs maximizing the cell sum rate with a heuristic algorithm) scheme for FD-UAV D2D underlaying models outperforms HD-UAV underlaying cellular networks, with improved access rates for UAVs in FD-MaxSumCell-HA compared to HD-UAV networks.

Load-aware task migration algorithm toward adaptive load balancing in Edge Computing

The rapid advancement of the Internet of Things (IoT) is leading to more and more devices joining the network to interact with information, which requires improving the performance of IoT applications to accommodate more data, faster response times, and more complex tasks. Edge computing, as a new computing paradigm, brings resource contention and load imbalance while reducing communication overhead and task latency. This paper addresses the workload distribution challenge in edge networks, aiming to optimize resource utilization and thereby enhance IoT application performance. To achieve this goal, we present the Load-aware Task Migration (LATM) algorithm. Firstly, we present a load state detection model that captures edge nodes’ workloads and dynamically classifies them according to their resource requirements. We then propose an innovative optimization problem, transforming task migration into a weighted tripartite graph matching problem. This problem leverages the Kuhn–Munkres(KM) task migration algorithm to attain the optimal matching between tasks and nodes. Finally, we assess the algorithm’s performance through experimental simulation. The experimental results underscore the algorithm’s substantial potential in reducing task response times, task execution times, load balance, and enhancing resource utilization.

Cooperative Resource Allocation for Hybrid NOMA-OMA-Based Wireless Powered MC-IoT Systems with Hybrid Relays

This paper considers an uplink wireless powered multichannel internet of things (MC-IoT) system with multiple hybrid relays, each serves a group of wireless-powered IoTDs. For coordinating radio frequency wireless power transfer (RF-WPT) and wireless information transfer (WIT), two cooperative protocols integrating non-orthogonal multiple access (NOMA) and orthogonal multiple access (OMA), namely hybrid NOMA-frequency division multiple access (FDMA) and hybrid NOMA-time division multiple access (TDMA), is proposed. For both protocols, we investigate cooperative resource allocation problems and aim to maximize the sum data delivered by all the IoTDs, subject to the peak transmit power constraint and the total consumable energy constraint of the hybrid relays. The problem with the hybrid NOMA-FDMA is first decomposed into two subproblems, one for time and power allocation of each hybrid relay and its associated IoTDs, and the other one for channel allocation among them. After some properties of the optimal solution are discovered and a series of transformations is performed, the former subproblem is solved by the bisection search and the Lagrange duality method, and the latter subproblem is solved by the Kuhn–Munkres algorithm. The problem with the hybrid NOMA-TDMA is first convexified by proper variable transformations and then solved by the Lagrange duality method. We provide extensive simulations to demonstrate the superiority of the proposed schemes. It is shown that various system parameters play key roles in the performance comparison of the two schemes.

Joint Power Control and Resource Allocation for Optimizing the D2D User Performance of Full-Duplex D2D Underlying Cellular Networks

D2D communication is a promising technology for enhancing spectral efficiency (SE) in cellular networks, and full-duplex (FD) has the potential to double SE. Due to D2D’s short-distance communication and low transmittance power, it is natural to integrate FD into D2D, creating FD-D2D to underlay a cellular network to further improve SE. However, the residual self-interference (RSI) resulting from FD-D2D and interference arising from spectrum sharing between D2D users (DUs) and cellular users (CUs) can restrict D2D link performance. Therefore, we propose an FD-D2D underlying cellular system in which DUs jointly share uplink and downlink spectral resources with CUs. Moreover, we present two algorithms to enhance the performance experience of DUs while improving the system’s SE. For the first algorithm, we tackle an optimization problem aimed at maximizing the sum rate of FD-DUs in the system while adhering to transmittance power constraints. This problem is formulated as a mixed-integer nonlinear programming problem (MINLP), known for its mathematical complexity and NP-hard nature. In order to address this MINLP, our first algorithm decomposes it into two subproblems: power control and spectral resource allocation. The power control aspect is treated as a nonlinear problem, which we solve through one-dimensional searching. Meanwhile, spectral resource allocation is achieved using the Kuhn–Munkres algorithm, determining the pairing of CUs and DUs sharing the same spectrum. As for the second algorithm, our objective is to enhance the individual performance of FD-DUs by maximizing the minimum rate among them, ensuring more uniform rate performance across all FD-DUs. In order to solve this optimization problem, we propose a novel spectral resource allocation algorithm based on bisection searching and the Kuhn–Munkres algorithm, whereas the power control aspect remains the same as in the first algorithm. The numerical results demonstrate that our proposed algorithm effectively enhances the performance of DUs in an FD-D2D underlying cellular network when compared to the sum rate maximization design.

Behavioral response of fish under ammonia nitrogen stress based on machine vision

The long-term accumulation of ammonia nitrogen in aquaculture seriously affects the life of fish and even causes large-scale death. Moreover, when the concentration of ammonia nitrogen starts to accumulate, it is a judgment standard to provide early warning through the changes in fish behavior to prevent excessive ammonia nitrogen in water. Therefore, this paper proposes a novel approach to monitoring water quality for aquaculture based on deep learning and three-dimensional movement trajectory. The improved YOLOv8 model was used as the object detection approach to obtain three-dimensional position information of fish by combining Kalman filter, Kuhn Munkres (KM) algorithm, and Kernelized Correlation Filters (KCF) algorithm. The proposed approach was evaluated in the recovery experiment of acute ammonia nitrogen stress of sturgeon, bass, and crucian. The experimental results show that the precision, recall, mAP@0.5, and mAP@0.5:0.95 of the improved YOLOv8 model are 0.964, 0.914, 0.979, and 0.602, respectively. In addition, the proposed three-dimensional positioning approach can qualitatively and quantitatively analyze the fish behavior in different stages and further explores the fish behavior changes through behavior trajectories, volumes of exercise, spatial distribution, and movement velocity. This research provides a new method and idea for studying the abnormal behavior of aquatic animals under ammonia nitrogen stress and has theoretical and practical significance.

An Object Association Matching Method Based on V2I System

Vehicle-to-infrastructure (V2I) is one of the effective ways to solve the problem of intelligent connected vehicle perception, and the core is to fuse the information sensed by vehicle sensors with that sensed by infrastructure sensors. However, accurately matching the objects detected by the vehicle with multiple objects detected by the infrastructure remains a challenge. This paper presents an object association matching method to fuse the object information from vehicle sensors and roadside sensors, enabling the matching and fusion of multiple target information. The proposed object association matching algorithm consists of three steps. First, the deployment method for vehicle sensors and roadside sensors is designed. Then, the laser point cloud data from the roadside sensors are processed using the DBSCAN algorithm to extract the object information on the road. Finally, an improved single-pass algorithm for object association matching is proposed to achieve the matched target by setting a change threshold for selection. To validate the effectiveness and feasibility of the proposed method, real-vehicle experiments are conducted. Furthermore, the improved single-pass algorithm is compared with the classical Hungarian algorithm, Kuhn–Munkres (KM) algorithm, and nearest neighbor (NN) algorithm. The experimental results demonstrate that the improved single-pass algorithm achieves a target trajectory matching accuracy of 0.937, which is 6.60%, 1.85%, and 2.07% higher than the above-mentioned algorithms, respectively. In addition, this paper investigates the curvature of the target vehicle trajectory data after fusing vehicle sensing information and roadside sensing information. The curvature mean, curvature variance, and curvature standard deviation are analyzed. The experimental results illustrate that the fused target information is more accurate and effective. The method proposed in this study contributes to the advancement of the theoretical system of V2I cooperative perception and provides theoretical support for the development of intelligent connected vehicles.

A phased resource allocation algorithm for full‐duplex device‐to‐device communications underlaying cellular networks

AbstractDevice‐to‐device (D2D) and full duplex (FD) technologies demonstrate immense potentials to improve the spectral efficiency of wireless networks. However, their synergistic combination to reap added benefits is proved to be technically challenging. This letter investigates the throughput‐maximization resource allocation problem for FD D2D communications underlaying cellular networks. The problem is decoupled into two subproblems, namely power allocation and channel assignment, which are solved by using a novel quadratic transform based scheme and the Kuhn–Munkres algorithm, respectively. Simulation results show that the proposed algorithm outperforms existing ones in terms of overall system throughput.

Multi-Dimensional Resource Allocation for Throughput Maximization in CRIoT with SWIPT

To solve the power supply problem of battery-limited Internet of Things devices (IoDs) and the spectrum scarcity problem, simultaneous wireless information and power transfer (SWIPT) and cognitive radio (CR) technology were integrated into the Internet of Things (IoT) network to build a cognitive radio IoT (CRIoT) with SWIPT. In this network, secondary users (SUs) could adaptively switch between spectrum sensing, SWIPT, and information transmission to improve the total throughput. To solve the complicated multi-dimensional resource allocation problem in CRIoT with SWIPT, we propose a multi-dimensional resource allocation algorithm for maximizing the total throughput. Three-dimensional resources were jointly optimized, which are time resource (the duration of each process), power resource (the transmit power and the power splitting ratio of each node), and spectrum resource, under some constraints, such as maximum transmit power constraint and maximum permissible interference constraint. To solve this intractable mixed-integer nonlinear program (MINLP) problem, firstly, the sensing task assignment for cooperative spectrum sensing (CSS) was obtained by using a greedy sensing algorithm. Secondly, the original problem was transformed into a convex problem via some transformations with fixed-power splitting ratio and time switching. The Lagrange dual method and subgradient method were adopted to obtain the optimal power and channel allocation. Then, a one-dimensional search algorithm was used to obtain the optimal power splitting ratio and the time switching ratio. Finally, a heuristic algorithm was adopted to obtain the optimal sensing duration. The simulation results show that the proposed algorithm can achieve higher total system throughput than other benchmark algorithms, such as a greedy algorithm, an average algorithm, and the Kuhn–Munkres (KM) algorithm.

Dynamic Resource Optimization for Energy-Efficient 6G-IoT Ecosystems

The problem of energy optimization for Internet of Things (IoT) devices is crucial for two reasons. Firstly, IoT devices powered by renewable energy sources have limited energy resources. Secondly, the aggregate energy requirement for these small and low-powered devices is translated into significant energy consumption. Existing works show that a significant portion of an IoT device’s energy is consumed by the radio sub-system. With the emerging sixth generation (6G), energy efficiency is a major design criterion for significantly increasing the IoT network’s performance. To solve this issue, this paper focuses on maximizing the energy efficiency of the radio sub-system. In wireless communications, the channel plays a major role in determining energy requirements. Therefore, a mixed-integer nonlinear programming problem is formulated to jointly optimize power allocation, sub-channel allocation, user selection, and the activated remote radio units (RRUs) in a combinatorial approach according to the channel conditions. Although it is an NP-hard problem, the optimization problem is solved through fractional programming properties, converting it into an equivalent tractable and parametric form. The resulting problem is then solved optimally by using the Lagrangian decomposition method and an improved Kuhn–Munkres algorithm. The results show that the proposed technique significantly improves the energy efficiency of IoT systems as compared to the state-of-the-art work.

Optimizing Multi-Vehicle Demand-Responsive Bus Dispatching: A Real-Time Reservation-Based Approach

The demand-responsive public transport system with multi-vehicles has the potential to efficiently meet real-time and high-volume transportation needs through effective scheduling. This paper focuses on studying the real-time vehicle scheduling problem, which involves dispatching and controlling different model vehicles uniformly based on generated vehicle number tasks at a given point in time. By considering the immediacy of real-time itinerary tasks, this paper optimizes the vehicle scheduling problem at a single time point. The objective function is to minimize the total operating cost of the system while satisfying constraints such as passenger capacity and vehicle transfer time. To achieve this, a vehicle scheduling optimization model is constructed, and a solution approach is proposed by integrating bipartite graph optimal matching theory and the Kuhn–Munkres algorithm. The effectiveness of the proposed approach is demonstrated by comparing it with a traditional greedy algorithm using the same calculation example. The results show that the optimization method has higher solution efficiency and can generate a scheduling scheme that effectively reduces operating costs, improves transportation efficiency, and optimizes the operation organization process for demand-responsive buses.

AoI-Aware Optimization of Service Caching-Assisted Offloading and Resource Allocation in Edge Cellular Networks

The rapid development of the Internet of Things (IoT) has led to computational offloading at the edge; this is a promising paradigm for achieving intelligence everywhere. As offloading can lead to more traffic in cellular networks, cache technology is used to alleviate the channel burden. For example, a deep neural network (DNN)-based inference task requires a computation service that involves running libraries and parameters. Thus, caching the service package is necessary for repeatedly running DNN-based inference tasks. On the other hand, as the DNN parameters are usually trained in distribution, IoT devices need to fetch up-to-date parameters for inference task execution. In this work, we consider the joint optimization of computation offloading, service caching, and the AoI metric. We formulate a problem to minimize the weighted sum of the average completion delay, energy consumption, and allocated bandwidth. Then, we propose the AoI-aware service caching-assisted offloading framework (ASCO) to solve it, which consists of the method of Lagrange multipliers with the KKT condition-based offloading module (LMKO), the Lyapunov optimization-based learning and update control module (LLUC), and the Kuhn-Munkres (KM) algorithm-based channel-division fetching module (KCDF). The simulation results demonstrate that our ASCO framework achieves superior performance in regard to time overhead, energy consumption, and allocated bandwidth. It is verified that our ASCO framework not only benefits the individual task but also the global bandwidth allocation.

An integrated approach for dual resource optimization of relay‐based mobile edge computing system

SummaryThe evolution of IoT, 5G and 6G aims to provide almost zero latency. Computation tasks size is different for different users. A framework for task computation achieving almost zero latency for stochastic demand is a challenge. A relay‐based D2D mobile edge computing (MEC) system is proposed. The idle device present in the networks is used as relay resources (RS). Mobile devices (MDs) communicate task to relay resources (RS) using D2D communication link. The RS perform computation and offloaded to edge server (ES). It aims to minimize total cost, energy expenditure and overall latency. Problem is formulated as mixed‐integer nonlinear‐constrained problem (MINCP). A three‐step algorithm to optimize relay selection, power allocation and computation resource allocation is proposed. In the initial step optimal relay selection is obtained by the Kuhn‐Munkres (KM) algorithm. In the next step, power allocation is obtained using Q‐learning. In the last step, the main problem is converted into a cost optimization problem deciphered by the proposed algorithm. The substantial simulation results indicate the relay‐based MEC system to achieve an astounding outcome in terms of latency, energy consumption and cost. Compared with other baseline methods, the proposed algorithm can achieve reduced energy consumption and cost for almost zero latency.

User Scheduling for Opportunistic Nonorthogonal Random Access in Finite Blocklength IoT Networks

We propose a user-scheduling scheme for uplink opportunistic nonorthogonal random access in a finite blocklength Internet-of-Things (IoT) network. The considered system consists of high-priority IoT (HP-IoT) devices requiring strict quality-of-service (QoS) and low-priority IoT (LP-IoT) devices with delay-tolerance. Active LP-IoT devices opportunistically transmit their data subject to the QoS constraints of the HP-IoTs. We first analyze the sum-throughput achieved by the LP-IoT devices. Next, we devise greedy algorithm and Kuhn–Munkres algorithm-based schemes for user scheduling to maximize the throughput. Numerical results are provided to demonstrate the effectiveness of our proposed scheme over the conventional approach.

An Improved Kuhn Munkres Algorithm for Ship Matching in Optical Satellite Images

An Improved Kuhn Munkres Algorithm for Ship Matching in Optical Satellite Images

An Optimized Double-Nested Anti-Missile Force Deployment Based on the Deep Kuhn–Munkres Algorithm

In view of a complex multi-factor interaction relationship and high uncertainty of a battlefield environment in the anti-missile troop deployment, this paper analyzes the relationships between the defending stronghold, weapon system, incoming target, and ballistic missile. In addition, a double nested optimization architecture is designed by combining deep learning hierarchy concept and hierarchical dimensionality reduction processing. Moreover, a deployment model based on the double nested optimization architecture is constructed with the interception arc length as an optimization goal and based on the basic deployment model, kill zone model, and cover zone model. Further, by combining the target full coverage adjustment criterion and depth-first search, a deep Kuhn–Munkres algorithm is proposed. The model is validated by simulations of typical scenes. The results verify the rationality and feasibility of the proposed model, high adaptability of the proposed algorithm. The research of this paper has important enlightenment and reference function for solving the force deployment optimization problems in uncertain battlefield environment.

Energy-Efficient Resource Allocation for Short Packet Transmission in MISO Multicarrier NOMA

In this article, we investigate energy efficiency (EE) maximization of short packet transmission (SPT) in a downlink multiple-input single-output (MISO) multi-carrier non-orthogonal multiple access (MC-NOMA) communication system. We use the ratio of the effective throughput to the power as a performance metric to formulate a non-convex mixed-integer nonlinear programming (MINLP) problem. Then, a low-complexity three-step optimization framework is proposed for MINLP optimization. Under a given maximum transmit power and channel blocklength of each subcarrier, a block coordinate descent (BCD) based method is proposed to jointly optimize the power allocation coefficient, transmission rate, and transmit power within a single subcarrier. Then, we transform the subcarrier allocation problem into a weighted bipartite graph matching problem and obtain the optimal subcarrier allocation scheme using the Kuhn-Munkres (KM) algorithm. Finally, a dynamic programming (DP) method is proposed to obtain the optimal channel blocklength allocation scheme. The simulation results validate the effectiveness of the proposed three-step optimization framework and indicate that the MC-NOMA system achieves higher EE and higher effective throughput than the orthogonal frequency-division multiple access (OFDMA) system in SPT.

Hybrid Beamforming Design for Self-Interference Cancellation in Full-Duplex Millimeter-Wave MIMO Systems with Dynamic Subarrays.

Full-duplex (FD) millimeter-wave (mmWave) multiple-input multiple-output (MIMO) communication is a promising solution for the extremely high-throughput requirements in future cellular systems. The hybrid beamforming structure is preferable for its low hardware complexity and low power consumption with acceptable performance. In this paper, we introduce the hardware efficient dynamic subarrays to the FD mmWave MIMO systems and propose an effective hybrid beamforming design to cancel the self-interference (SI) in the considered system. First, assuming no SI, we obtain the optimal fully digital beamformers and combiners via the singular value decomposition of the uplink and downlink channels and the water-filling power allocation. Then, based on the obtained fully digital solutions, we get the dynamic analog solutions and digital solutions using the Kuhn-Munkres algorithm-aided dynamic hybrid beamforming design. Finally, we resort to the null space projection method to cancel the SI by projecting the obtained digital beamformer at the base station onto the null space of the equivalent SI channel. We further analyze the computational complexity of the proposed method. Numerical results demonstrate the superiority of the FD mmWave MIMO systems with the dynamic subarrays using the proposed method compared to the systems with the fixed subarrays and the half-duplex mmWave communications. When the number of RF chains is 6 and the signal-to-noise ratio is 10 dB, the proposed design outperforms the FD mmWave MIMO systems with fixed subarrays and the half-duplex mmWave communications, respectively, by 22.4% and 47.9% in spectral efficiency and 19.9% and 101% in energy efficiency.

Energy-Efficient Resource Allocation for Secure D2D Communications Underlaying UAV-Enabled Networks

In this paper, we investigate the energy-efficient resource allocation problem in device-to-device (D2D) communications underlaying unmanned aerial vehicle (UAV)-enabled networks. The UAV is deployed as a flying base station to communicate with wireless users in the presence of an eavesdropper in the cell. We consider two types of users: the ground users (GUs) served by the UAV and the D2D users that communicate directly with one another. Our aim is to maximize the total energy efficiency (TEE) of all D2D pairs while guaranteeing the quality of service (QoS) requirements and secrecy rates of all GUs and D2D users via joint power control and channel allocation. The considered TEE maximization problem is a mixed-integer nonlinear programming (MINLP) problem, which is difficult to solve. Therefore, we propose a method that consists of outer and inner loops. In the outer loop, Dinkelbach's algorithm is utilized to transform the original fractional programming problem into a subtractive form. In the inner loop, we employ the alternating optimization method and divide the equivalent optimization problem into two sub-problems: power allocation and channel allocation. Solving the two sub-problems directly using standard convex optimization software may have high complexity. Therefore, we also propose a low-complexity algorithm using the Lagrangian dual and Kuhn—Munkres algorithm to obtain the optimal power allocation in closed-form and the optimal channel allocation, respectively. Simulation results show that the proposed algorithm converges in a small number of iterations. Furthermore, the proposed approach shows its superior performance compared with other benchmark methods.