diff --git a/.gitconfig b/.gitconfig
new file mode 100644
index 0000000000000000000000000000000000000000..54466ef7e6bcb4d64c902aa48ce5dcd82a624b7f
--- /dev/null
+++ b/.gitconfig
@@ -0,0 +1,7 @@
+[user]
+ name = Luca Capezzuto
+ email = luca.capezzuto@soton.ac.uk
+[credential]
+ helper = cache --timeout=3600
+[core]
+ editor = nvim
diff --git a/LICENSE b/LICENSE
index 0765835383285ea4acba3e1e98fc897264727d55..17fadebd5785494be249ebe2d51201f552880f49 100644
--- a/LICENSE
+++ b/LICENSE
@@ -1,6 +1,7 @@
MIT License
-Copyright (c) 2020 ECS Centre for Machine Intelligence
+Copyright (c) 2020 Luca Capezzuto
+ECS Centre for Machine Intelligence
University of Southampton, UK
Permission is hereby granted, free of charge, to any person obtaining a copy
@@ -19,4 +20,4 @@ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.
\ No newline at end of file
+SOFTWARE.
diff --git a/README.md b/README.md
index b4c43bb131e58193fe9e23ea680cbbad1e0a42c8..58c955c5ce125a4319c7e37f9d9d09585998be28 100644
--- a/README.md
+++ b/README.md
@@ -5,8 +5,10 @@
| [Luca Capezzuto](https://lcpz.gitlab.io) | [MIT](https://opensource.org/licenses/MIT) |
Algorithms for solving the Coalition Formation with Spatial and Temporal
-constraints Problem ([CFSTP](https://eprints.soton.ac.uk/268497/)) and
-extensions.
+constraints Problem ([CFSTP](https://eprints.soton.ac.uk/268497/)).
+
+Reference paper: [Anytime and Efficient Coalition Formation with
+Spatial and Temporal Constraints](https://easychair.org/publications/preprint/m7hT).
## Dependencies
@@ -24,8 +26,7 @@ extensions.
## To-do list
-- [ ] Test with [RoboCupRescue simulator](https://github.com/roborescue/rcrs-adf-sample)
-- [ ] Test with [RMASBench](https://github.com/RMASBench)
+- [ ] CTS implementation is unnecessarily quadratic on the number of agents: fix it
- [ ] Test with [MASPlanes](https://github.com/MASPlanes/MASPlanes)
- [ ] Integrate the [XCSP parser](https://github.com/xcsp3team/XCSP3-Java-Tools) (for DCOPs)
- [ ] Use [BURLAP](https://github.com/jmacglashan/burlap)'s [`GridWorld`](https://github.com/jmacglashan/burlap_examples/blob/master/src/main/java/edu/brown/cs/burlap/tutorials/HelloGridWorld.java) for GUI representation (see this [tutorial](http://burlap.cs.brown.edu/tutorials/hgw/p1.html))
diff --git a/results/ramchurns-benchmark.txt b/results/ramchurns-benchmark.txt
index 60076cb573e85999a5928ab9fb7087d8658ee499..819ef57a5d48a43b4d99e5c3f4cfd7a87b37593f 100644
--- a/results/ramchurns-benchmark.txt
+++ b/results/ramchurns-benchmark.txt
@@ -5,96 +5,96 @@ avg(completed tasks, agent travel time, task completion time, problem completion
EDF = (16.17% ± [2.50, 3.16], 27.16 ± [5.97, 7.62], 19.12 ± [3.06, 3.02], 597.58 ± [15.58, 2.42], 0.40 ms ± [0.18, 9.29])
CFLA = (27.24% ± [1.91, 2.09], 31.67 ± [4.32, 6.06], 11.66 ± [1.11, 1.03], 529.41 ± [33.41, 32.59], 340.23 ms ± [43.07, 244.57])
- CFLAP = (23.68% ± [2.68, 2.98], 14.87 ± [2.33, 2.78], 14.40 ± [1.82, 1.64], 555.61 ± [20.61, 20.39], 130.04 ms ± [25.32, 110.47])
- CCF = (9.41% ± [8.74, 5.26], 8.12 ± [5.12, 2.68], 20.54 ± [9.54, 6.21], 413.24 ± [399.24, 186.76], 0.76 ms ± [0.73, 5.53])
+ CFLA2 = (23.68% ± [2.68, 2.98], 14.87 ± [2.33, 2.78], 14.40 ± [1.82, 1.64], 555.61 ± [20.61, 20.39], 130.04 ms ± [25.32, 110.47])
+ CTS = (9.41% ± [8.74, 5.26], 8.12 ± [5.12, 2.68], 20.54 ± [9.54, 6.21], 413.24 ± [399.24, 186.76], 0.76 ms ± [0.73, 5.53])
[4 agents]
EDF = (32.34% ± [3.34, 4.33], 28.29 ± [4.35, 4.72], 19.08 ± [1.96, 2.20], 584.18 ± [41.18, 15.82], 0.58 ms ± [0.21, 9.61])
CFLA = (42.01% ± [4.01, 3.99], 32.14 ± [4.36, 3.57], 13.56 ± [1.00, 0.97], 485.54 ± [38.54, 35.46], 498.08 ms ± [63.31, 275.43])
- CFLAP = (43.76% ± [3.76, 4.24], 17.64 ± [2.98, 2.71], 15.36 ± [1.08, 1.27], 558.50 ± [22.50, 23.50], 244.22 ms ± [40.93, 108.39])
- CCF = (26.37% ± [6.04, 2.63], 8.94 ± [2.02, 2.38], 20.80 ± [2.28, 2.13], 596.76 ± [141.76, 3.24], 0.96 ms ± [0.22, 6.91])
+ CFLA2 = (43.76% ± [3.76, 4.24], 17.64 ± [2.98, 2.71], 15.36 ± [1.08, 1.27], 558.50 ± [22.50, 23.50], 244.22 ms ± [40.93, 108.39])
+ CTS = (26.37% ± [6.04, 2.63], 8.94 ± [2.02, 2.38], 20.80 ± [2.28, 2.13], 596.76 ± [141.76, 3.24], 0.96 ms ± [0.22, 6.91])
[6 agents]
EDF = (46.11% ± [4.11, 5.22], 29.00 ± [2.78, 3.19], 19.44 ± [1.77, 1.93], 544.97 ± [36.97, 40.03], 0.68 ms ± [0.29, 13.30])
CFLA = (51.24% ± [4.24, 4.10], 32.34 ± [3.69, 4.26], 14.43 ± [1.00, 1.08], 431.69 ± [48.69, 48.31], 595.21 ms ± [76.53, 335.17])
- CFLAP = (60.55% ± [5.22, 3.45], 19.96 ± [2.43, 2.91], 16.38 ± [0.81, 1.23], 557.41 ± [17.41, 18.59], 331.84 ms ± [59.75, 133.31])
- CCF = (39.33% ± [3.99, 3.67], 9.09 ± [2.00, 2.63], 20.87 ± [1.86, 1.79], 598.37 ± [10.37, 1.63], 1.09 ms ± [0.20, 7.55])
+ CFLA2 = (60.55% ± [5.22, 3.45], 19.96 ± [2.43, 2.91], 16.38 ± [0.81, 1.23], 557.41 ± [17.41, 18.59], 331.84 ms ± [59.75, 133.31])
+ CTS = (39.33% ± [3.99, 3.67], 9.09 ± [2.00, 2.63], 20.87 ± [1.86, 1.79], 598.37 ± [10.37, 1.63], 1.09 ms ± [0.20, 7.55])
[8 agents]
EDF = (57.24% ± [5.91, 4.76], 29.61 ± [3.08, 3.27], 19.34 ± [1.74, 2.22], 494.33 ± [44.33, 44.67], 1.17 ms ± [0.46, 17.88])
CFLA = (57.94% ± [4.94, 4.06], 32.62 ± [3.19, 3.43], 14.74 ± [1.22, 1.10], 387.05 ± [42.05, 36.95], 748.13 ms ± [89.53, 958.35])
- CFLAP = (74.30% ± [5.63, 3.70], 22.26 ± [2.05, 1.95], 17.39 ± [0.99, 1.48], 546.98 ± [30.98, 24.02], 443.34 ms ± [77.25, 251.47])
- CCF = (52.25% ± [4.59, 3.75], 9.39 ± [1.57, 1.62], 20.58 ± [1.65, 2.68], 597.87 ± [9.87, 2.13], 1.40 ms ± [0.24, 9.34])
+ CFLA2 = (74.30% ± [5.63, 3.70], 22.26 ± [2.05, 1.95], 17.39 ± [0.99, 1.48], 546.98 ± [30.98, 24.02], 443.34 ms ± [77.25, 251.47])
+ CTS = (52.25% ± [4.59, 3.75], 9.39 ± [1.57, 1.62], 20.58 ± [1.65, 2.68], 597.87 ± [9.87, 2.13], 1.40 ms ± [0.24, 9.34])
[10 agents]
EDF = (65.33% ± [7.33, 4.67], 29.93 ± [2.82, 3.97], 19.43 ± [1.30, 1.57], 450.70 ± [28.70, 51.30], 1.28 ms ± [0.55, 19.12])
CFLA = (61.87% ± [3.87, 4.80], 32.59 ± [2.96, 3.11], 14.99 ± [1.22, 0.98], 348.50 ± [30.50, 32.50], 795.12 ms ± [86.83, 803.97])
- CFLAP = (83.59% ± [5.25, 4.75], 25.13 ± [3.62, 4.27], 18.71 ± [1.27, 1.34], 530.36 ± [28.36, 24.64], 497.96 ms ± [63.53, 114.35])
- CCF = (63.88% ± [5.88, 5.78], 9.93 ± [1.48, 2.52], 20.63 ± [1.73, 1.49], 597.71 ± [12.71, 2.29], 1.58 ms ± [0.25, 11.29])
+ CFLA2 = (83.59% ± [5.25, 4.75], 25.13 ± [3.62, 4.27], 18.71 ± [1.27, 1.34], 530.36 ± [28.36, 24.64], 497.96 ms ± [63.53, 114.35])
+ CTS = (63.88% ± [5.88, 5.78], 9.93 ± [1.48, 2.52], 20.63 ± [1.73, 1.49], 597.71 ± [12.71, 2.29], 1.58 ms ± [0.25, 11.29])
[12 agents]
EDF = (72.56% ± [8.23, 5.11], 30.24 ± [4.00, 2.47], 19.24 ± [1.62, 1.69], 413.43 ± [32.43, 38.57], 0.92 ms ± [0.33, 15.08])
CFLA = (65.14% ± [4.14, 7.52], 32.95 ± [3.18, 3.17], 15.11 ± [1.03, 1.14], 321.85 ± [36.85, 35.15], 802.53 ms ± [83.63, 494.50])
- CFLAP = (87.43% ± [5.76, 4.24], 29.14 ± [4.97, 3.44], 19.36 ± [1.28, 1.40], 482.37 ± [43.37, 36.63], 497.20 ms ± [73.55, 177.36])
- CCF = (74.73% ± [4.06, 4.27], 10.38 ± [1.28, 1.62], 20.58 ± [1.37, 1.41], 594.26 ± [39.26, 5.74], 1.89 ms ± [0.32, 10.25])
+ CFLA2 = (87.43% ± [5.76, 4.24], 29.14 ± [4.97, 3.44], 19.36 ± [1.28, 1.40], 482.37 ± [43.37, 36.63], 497.20 ms ± [73.55, 177.36])
+ CTS = (74.73% ± [4.06, 4.27], 10.38 ± [1.28, 1.62], 20.58 ± [1.37, 1.41], 594.26 ± [39.26, 5.74], 1.89 ms ± [0.32, 10.25])
[14 agents]
EDF = (77.64% ± [4.97, 5.69], 30.68 ± [2.39, 2.90], 18.90 ± [1.79, 1.26], 379.78 ± [22.78, 38.22], 1.06 ms ± [0.47, 13.69])
CFLA = (67.11% ± [5.44, 4.22], 33.06 ± [3.16, 2.63], 15.05 ± [1.10, 1.22], 297.78 ± [30.78, 32.22], 825.84 ms ± [88.52, 320.01])
- CFLAP = (87.94% ± [5.60, 4.40], 31.00 ± [2.76, 2.66], 19.24 ± [1.34, 1.11], 422.85 ± [35.85, 34.15], 527.77 ms ± [69.73, 150.93])
- CCF = (82.38% ± [5.05, 4.28], 11.56 ± [1.47, 1.48], 20.40 ± [1.27, 1.30], 575.90 ± [55.90, 24.10], 2.00 ms ± [0.40, 10.11])
+ CFLA2 = (87.94% ± [5.60, 4.40], 31.00 ± [2.76, 2.66], 19.24 ± [1.34, 1.11], 422.85 ± [35.85, 34.15], 527.77 ms ± [69.73, 150.93])
+ CTS = (82.38% ± [5.05, 4.28], 11.56 ± [1.47, 1.48], 20.40 ± [1.27, 1.30], 575.90 ± [55.90, 24.10], 2.00 ms ± [0.40, 10.11])
[16 agents]
EDF = (83.25% ± [5.92, 4.75], 30.88 ± [2.68, 3.12], 18.66 ± [1.96, 1.58], 351.10 ± [19.10, 28.90], 1.81 ms ± [0.76, 23.48])
CFLA = (68.77% ± [4.10, 5.23], 32.86 ± [2.67, 2.83], 15.01 ± [1.06, 1.40], 283.41 ± [30.41, 33.59], 974.44 ms ± [75.39, 611.26])
- CFLAP = (89.10% ± [4.10, 5.23], 31.43 ± [3.70, 3.93], 18.95 ± [1.51, 1.47], 378.02 ± [30.02, 27.98], 606.13 ms ± [76.32, 117.88])
- CCF = (86.94% ± [7.94, 5.39], 12.92 ± [2.28, 2.10], 20.39 ± [1.14, 1.41], 538.82 ± [47.82, 60.18], 2.33 ms ± [0.56, 12.45])
+ CFLA2 = (89.10% ± [4.10, 5.23], 31.43 ± [3.70, 3.93], 18.95 ± [1.51, 1.47], 378.02 ± [30.02, 27.98], 606.13 ms ± [76.32, 117.88])
+ CTS = (86.94% ± [7.94, 5.39], 12.92 ± [2.28, 2.10], 20.39 ± [1.14, 1.41], 538.82 ± [47.82, 60.18], 2.33 ms ± [0.56, 12.45])
[18 agents]
EDF = (88.09% ± [7.75, 5.58], 30.64 ± [2.40, 2.34], 18.33 ± [1.42, 1.29], 336.11 ± [20.11, 25.89], 2.04 ms ± [0.74, 26.48])
CFLA = (69.73% ± [6.07, 5.60], 32.54 ± [3.83, 4.71], 15.10 ± [0.80, 0.93], 272.95 ± [26.95, 25.05], 983.11 ms ± [115.05, 1010])
- CFLAP = (89.10% ± [4.10, 3.90], 31.43 ± [2.02, 3.68], 18.55 ± [1.37, 1.58], 340.05 ± [21.05, 34.95], 603.53 ms ± [71.15, 123.62])
- CCF = (89.49% ± [6.15, 5.51], 13.41 ± [2.39, 3.06], 20.43 ± [1.46, 1.29], 495.89 ± [62.89, 50.11], 2.31 ms ± [0.32, 11.26])
+ CFLA2 = (89.10% ± [4.10, 3.90], 31.43 ± [2.02, 3.68], 18.55 ± [1.37, 1.58], 340.05 ± [21.05, 34.95], 603.53 ms ± [71.15, 123.62])
+ CTS = (89.49% ± [6.15, 5.51], 13.41 ± [2.39, 3.06], 20.43 ± [1.46, 1.29], 495.89 ± [62.89, 50.11], 2.31 ms ± [0.32, 11.26])
[20 agents]
EDF = (91.68% ± [12.01, 4.66], 30.80 ± [3.55, 2.53], 17.77 ± [1.49, 1.80], 319.14 ± [15.14, 32.86], 2.39 ms ± [0.87, 22.96])
CFLA = (70.67% ± [7.00, 5.00], 32.83 ± [2.46, 2.77], 15.03 ± [1.17, 1.40], 262.85 ± [20.85, 23.15], 1013.92 ms ± [127.97, 1099])
- CFLAP = (89.34% ± [7.67, 3.66], 31.57 ± [4.07, 3.50], 17.81 ± [1.86, 1.63], 312.13 ± [26.13, 23.87], 632.03 ms ± [127.34, 193])
- CCF = (91.99% ± [6.32, 4.01], 13.98 ± [2.91, 4.33], 20.40 ± [1.20, 1.26], 464.27 ± [53.27, 59.73], 2.25 ms ± [0.33, 13.09])
+ CFLA2 = (89.34% ± [7.67, 3.66], 31.57 ± [4.07, 3.50], 17.81 ± [1.86, 1.63], 312.13 ± [26.13, 23.87], 632.03 ms ± [127.34, 193])
+ CTS = (91.99% ± [6.32, 4.01], 13.98 ± [2.91, 4.33], 20.40 ± [1.20, 1.26], 464.27 ± [53.27, 59.73], 2.25 ms ± [0.33, 13.09])
[25 agents]
EDF = (95.01% ± [6.34, 3.66], 30.75 ± [2.73, 2.78], 16.08 ± [1.25, 1.43], 301.00 ± [0.00, 0.00], 4.19 ms ± [1.16, 33.02])
CFLA = (71.35% ± [4.68, 5.65], 32.66 ± [3.10, 3.09], 14.87 ± [1.00, 0.82], 247.43 ± [15.43, 18.57], 1126.58 ms ± [134.66, 918])
- CFLAP = (89.30% ± [3.96, 4.37], 31.65 ± [3.55, 3.73], 16.18 ± [1.07, 1.07], 290.80 ± [12.80, 14.20], 694.99 ms ± [99.13, 206.38])
- CCF = (95.18% ± [5.51, 3.15], 14.40 ± [2.52, 3.82], 20.34 ± [1.28, 1.39], 389.64 ± [41.64, 42.36], 2.35 ms ± [0.37, 13.85])
+ CFLA2 = (89.30% ± [3.96, 4.37], 31.65 ± [3.55, 3.73], 16.18 ± [1.07, 1.07], 290.80 ± [12.80, 14.20], 694.99 ms ± [99.13, 206.38])
+ CTS = (95.18% ± [5.51, 3.15], 14.40 ± [2.52, 3.82], 20.34 ± [1.28, 1.39], 389.64 ± [41.64, 42.36], 2.35 ms ± [0.37, 13.85])
[30 agents]
EDF = (95.79% ± [6.79, 3.88], 30.28 ± [3.11, 2.87], 15.68 ± [1.15, 0.79], 301.00 ± [0.00, 0.00], 5.89 ms ± [1.09, 40.53])
CFLA = (70.97% ± [5.97, 4.70], 32.50 ± [3.89, 3.20], 14.74 ± [1.07, 0.85], 239.41 ± [15.41, 16.59], 1213.45 ms ± [131.16, 581])
- CFLAP = (88.94% ± [4.27, 3.73], 31.59 ± [2.72, 3.36], 15.83 ± [0.88, 0.87], 288.71 ± [16.71, 14.29], 741.73 ms ± [81.26, 133.78])
- CCF = (96.19% ± [5.19, 2.81], 15.05 ± [2.89, 3.90], 20.33 ± [0.96, 0.93], 335.58 ± [32.58, 38.42], 2.78 ms ± [0.48, 12.69])
+ CFLA2 = (88.94% ± [4.27, 3.73], 31.59 ± [2.72, 3.36], 15.83 ± [0.88, 0.87], 288.71 ± [16.71, 14.29], 741.73 ms ± [81.26, 133.78])
+ CTS = (96.19% ± [5.19, 2.81], 15.05 ± [2.89, 3.90], 20.33 ± [0.96, 0.93], 335.58 ± [32.58, 38.42], 2.78 ms ± [0.48, 12.69])
[35 agents]
EDF = (96.51% ± [8.18, 3.16], 30.40 ± [2.95, 2.72], 15.56 ± [1.13, 0.98], 301.00 ± [0.00, 0.00], 7.28 ms ± [1.19, 47.24])
CFLA = (71.19% ± [4.53, 5.14], 32.25 ± [2.50, 2.63], 14.64 ± [0.74, 0.92], 238.89 ± [14.89, 19.11], 1299.69 ms ± [214.81, 1700])
- CFLAP = (89.46% ± [4.46, 4.21], 31.66 ± [2.64, 2.67], 15.73 ± [1.17, 0.91], 290.39 ± [14.39, 15.61], 776.76 ms ± [80.26, 172.91])
- CCF = (97.29% ± [4.62, 2.71], 15.15 ± [3.37, 4.39], 20.30 ± [1.33, 1.45], 293.62 ± [35.62, 35.38], 2.83 ms ± [0.58, 15.19])
+ CFLA2 = (89.46% ± [4.46, 4.21], 31.66 ± [2.64, 2.67], 15.73 ± [1.17, 0.91], 290.39 ± [14.39, 15.61], 776.76 ms ± [80.26, 172.91])
+ CTS = (97.29% ± [4.62, 2.71], 15.15 ± [3.37, 4.39], 20.30 ± [1.33, 1.45], 293.62 ± [35.62, 35.38], 2.83 ms ± [0.58, 15.19])
[40 agents]
EDF = (96.71% ± [8.04, 3.29], 30.53 ± [2.24, 3.02], 15.51 ± [0.94, 0.95], 300.99 ± [0.99, 0.01], 5.29 ms ± [0.85, 31.01])
CFLA = (70.79% ± [5.46, 5.54], 32.34 ± [3.20, 2.79], 14.67 ± [1.11, 1.22], 237.97 ± [14.97, 16.03], 1244.93 ms ± [161.44, 1290])
- CFLAP = (89.27% ± [4.27, 2.73], 31.66 ± [3.23, 2.98], 15.72 ± [0.95, 0.93], 289.10 ± [14.10, 10.90], 749.60 ms ± [96.39, 447.54])
- CCF = (98.15% ± [2.48, 1.85], 15.69 ± [4.12, 3.83], 20.30 ± [1.09, 1.24], 263.76 ± [24.76, 29.24], 2.76 ms ± [0.49, 16.61])
+ CFLA2 = (89.27% ± [4.27, 2.73], 31.66 ± [3.23, 2.98], 15.72 ± [0.95, 0.93], 289.10 ± [14.10, 10.90], 749.60 ms ± [96.39, 447.54])
+ CTS = (98.15% ± [2.48, 1.85], 15.69 ± [4.12, 3.83], 20.30 ± [1.09, 1.24], 263.76 ± [24.76, 29.24], 2.76 ms ± [0.49, 16.61])
diff --git a/src/main/java/exceptions/NegativeWorkloadException.java b/src/main/java/exceptions/NegativeWorkloadException.java
new file mode 100644
index 0000000000000000000000000000000000000000..6d470d9445de5d0089a31ebbb7f57b8aaec633c8
--- /dev/null
+++ b/src/main/java/exceptions/NegativeWorkloadException.java
@@ -0,0 +1,11 @@
+package exceptions;
+
+public class NegativeWorkloadException extends Exception {
+
+ private static final long serialVersionUID = 1L;
+
+ public NegativeWorkloadException(String msg) {
+ super(msg);
+ }
+
+}
\ No newline at end of file
diff --git a/src/main/java/exceptions/NotPositiveWorkloadException.java b/src/main/java/exceptions/NotPositiveWorkloadException.java
deleted file mode 100644
index 8047e890def5091bfba27f0e75aae5e71d332091..0000000000000000000000000000000000000000
--- a/src/main/java/exceptions/NotPositiveWorkloadException.java
+++ /dev/null
@@ -1,11 +0,0 @@
-package exceptions;
-
-public class NotPositiveWorkloadException extends Exception {
-
- private static final long serialVersionUID = 1L;
-
- public NotPositiveWorkloadException(String msg) {
- super(msg);
- }
-
-}
\ No newline at end of file
diff --git a/src/main/java/model/CFSTP.java b/src/main/java/model/CFSTP.java
index 73fd486157c15ed4dc36af93dc71ea057f3ce94f..e14297e495f6da2d89274778017a295326c62b9b 100644
--- a/src/main/java/model/CFSTP.java
+++ b/src/main/java/model/CFSTP.java
@@ -1,7 +1,7 @@
package model;
import exceptions.NegativeDeadlineException;
-import exceptions.NotPositiveWorkloadException;
+import exceptions.NegativeWorkloadException;
/**
* A Coalition Formation with Spatial and Temporal constraints Problem (CFSTP).
@@ -43,7 +43,7 @@ public abstract class CFSTP {
if (demands[i][0] < 0)
throw new NegativeDeadlineException(String.format("task %d has deadline = %d", i, demands[i][0]));
if (demands[i][1] <= 0)
- throw new NotPositiveWorkloadException(String.format("task %d has workload = %d", i, demands[i][1]));
+ throw new NegativeWorkloadException(String.format("task %d has workload = %d", i, demands[i][1]));
if (demands[i][0] > maxTaskDeadline)
maxTaskDeadline = demands[i][0];
@@ -56,7 +56,7 @@ public abstract class CFSTP {
minTaskWorkload = demands[i][1];
}
- } catch (NegativeDeadlineException | NotPositiveWorkloadException e) {
+ } catch (NegativeDeadlineException | NegativeWorkloadException e) {
e.printStackTrace();
}
diff --git a/src/main/java/solvers/CFLA.java b/src/main/java/solvers/CFLA.java
index 010eb768b971494942e7e56e4998d4edacfd3fcb..6b976ad96f026474b7a41e845ec976043ce085c2 100644
--- a/src/main/java/solvers/CFLA.java
+++ b/src/main/java/solvers/CFLA.java
@@ -13,7 +13,7 @@ import toolkit.Mathematics;
import toolkit.Utilities;
/**
- * Coalition Formation with improved Look-Ahead (CFLA^+) algorithm for solving CFSTPs.
+ * Coalition Formation with improved Look-Ahead (CFLA2) algorithm for solving CFSTPs.
*
* @author lcpz
*/
@@ -25,7 +25,7 @@ public class CFLA extends Solver {
*/
protected boolean[][][] T;
- /* CFLA or CFLA^+ */
+ /* CFLA or CFLA2 */
private boolean improved;
public CFLA(CFSTP problem) {
@@ -254,7 +254,7 @@ public class CFLA extends Solver {
* has the same weight (1) */
degreeV++;
else
- /* CFLA^+: each task that can be completed after v
+ /* CFLA2: each task that can be completed after v
* weights inversely proportional to its workload */
degreeV += 2 - Mathematics.getZ(demands[v2][1], minTaskWorkload, maxTaskWorkload);
/* in other words, the higher degreeV is, the more
diff --git a/src/main/java/solvers/CCF.java b/src/main/java/solvers/CTS.java
similarity index 94%
rename from src/main/java/solvers/CCF.java
rename to src/main/java/solvers/CTS.java
index c6c8628cede1c9794bffda7c758b6aa2a9b99b98..7eafa54798e1da53cceb4bf3e49079c2a4ac3493 100644
--- a/src/main/java/solvers/CCF.java
+++ b/src/main/java/solvers/CTS.java
@@ -11,11 +11,11 @@ import model.Results;
import toolkit.Utilities;
/**
- * Cluster-based Coalition Formation (CCF) algorithm for solving CFSTPs.
+ * Cluster-based Task Scheduling (CTS) algorithm for solving CFSTPs.
*
* @author lcpz
*/
-public class CCF extends Solver {
+public class CTS extends Solver {
public static enum TaskStatus {
/**
@@ -60,14 +60,14 @@ public class CCF extends Solver {
protected int numberOfTravels;
/**
- * The number of time steps required to complete each task
- * (0 means uncompleted).
+ * The number of time steps required to complete each task (0 means
+ * uncompleted).
*/
protected int[] completionTime;
protected float maxTaskWorkload;
- public CCF(CFSTP problem) {
+ public CTS(CFSTP problem) {
super(problem);
taskStatus = new TaskStatus[tasks.length];
@@ -115,7 +115,8 @@ public class CCF extends Solver {
if (taskStatus[v] == TaskStatus.ALLOCATED)
idx = 1;
int arrivalTime = currentTime + problem.getAgentTravelTime(a, agentLocations[a], taskLocations[v]);
- if (arrivalTime <= demands[v][0] && demands[v][0] < bestDeadline[idx] && arrivalTime < bestArrivalTime[idx]) {
+ if (arrivalTime <= demands[v][0] && demands[v][0] < bestDeadline[idx]
+ && arrivalTime < bestArrivalTime[idx]) {
bestDeadline[idx] = demands[v][0];
bestArrivalTime[idx] = arrivalTime;
bestTask[idx] = v;
@@ -270,10 +271,18 @@ public class CCF extends Solver {
cValue = problem.getCoalitionValue(v, agentsToAssign);
float workloadDone = 0f;
- for (int j = 0; j < agentsToAssign.length - 1; j++)
+ for (int j = 0; j < agentsToAssign.length - 1; j++) {
+ /*
+ * If multiple agents arrive at the same time, consider only the last one in the
+ * order.
+ */
+ if (arrivalTimes[j] == arrivalTimes[j + 1])
+ continue;
+
workloadDone += (arrivalTimes[j + 1] - arrivalTimes[j])
* problem.getCoalitionValue(v, ArrayUtils.addAll(
ArrayUtils.subarray(agentsToAssign, 0, j + 1), agentsWorkingAtTask));
+ }
/* if coalition of first i agents can complete v within deadline */
if (cValue * (demands[v][0] - arrivalTimes[i]) >= workloads[v] - workloadDone)
@@ -351,7 +360,7 @@ public class CCF extends Solver {
}
currentTime++;
- } while (!allAgentsAreAvailable() && numberOfCompletedTasks < tasks.length && currentTime < maxTaskDeadline);
+ } while (!allAgentsAreAvailable() && numberOfCompletedTasks < tasks.length && currentTime <= maxTaskDeadline);
if (numberOfTravels > 0)
avgTravelTime /= numberOfTravels;
@@ -363,4 +372,4 @@ public class CCF extends Solver {
}
-}
\ No newline at end of file
+}
diff --git a/src/main/java/toolkit/Utilities.java b/src/main/java/toolkit/Utilities.java
index 0d10b06dff3f9bfab9920c848be7095c97220c9c..19105588b85c58b14a60082da79add3724926386 100644
--- a/src/main/java/toolkit/Utilities.java
+++ b/src/main/java/toolkit/Utilities.java
@@ -3,7 +3,7 @@ package toolkit;
public class Utilities {
/**
- * Get an integer array with numbers from 0 to n-1.
+ * Get an integer array with numbers from 0 to n.
*
* @param n The length of the array.
* @return The array
@@ -15,9 +15,9 @@ public class Utilities {
if (n == 0)
return new Integer[0];
- Integer[] arr = new Integer[n];
+ Integer[] arr = new Integer[n + 1];
- for (int i = 0; i < n; i++)
+ for (int i = 0; i < n + 1; i++)
arr[i] = i;
return arr;
diff --git a/src/test/java/solvers/SolversTest.java b/src/test/java/solvers/SolversTest.java
index 64827682f911055f1fe1468737aff935d305e3ee..029a7638d4360e916e81d1d699ff7ca880554b48 100644
--- a/src/test/java/solvers/SolversTest.java
+++ b/src/test/java/solvers/SolversTest.java
@@ -24,7 +24,7 @@ class SolversTest {
static final int TEST_REPETITIONS = 1;
- static final int AGENTS = 40;
+ static final int AGENTS = 20;
static final int TASKS = 300;
static final int WORLD_DIM = 50;
@@ -52,7 +52,7 @@ class SolversTest {
static CFSTP problem;
- static String[] solvers = new String[] { "CFLA", "CFLAP", "CCF" };
+ static String[] solvers = new String[] { "CFLA", "CFLA2", "CTS" };
// solver: avg, min, max
static float[][] completedTaskPercentage = new float[solvers.length][3];
@@ -142,11 +142,11 @@ class SolversTest {
case "CFLA":
s = new CFLA(problem);
break;
- case "CFLAP":
+ case "CFLA2":
s = new CFLA(problem, true);
break;
- case "CCF":
- s = new CCF(problem);
+ case "CTS":
+ s = new CTS(problem);
break;
default:
throw new Exception(String.format("%s is not a valid algorithm identifier", solvers[i]));