IEEE Robotics & Automation Magazine - June 2023 - 43

needs the least CPU time. GA1 has the most tardiness, and
GA2 needs the most CPU time. Note that although the computation
time of RAILS is more than that of MS-VND, it is still
less than 0.5 min. It is acceptable in practice. In addition, it can
be seen that the performance of the GA has been improved
by increasing the number of consecutive iterations about the
termination criterion from Figure 3. When
wmax 50= for the
GA, the box figures of tardiness from RAILS, MS-VND, and
GA are shown in Figure 4. RAILS obtains a smaller standard
deviation than MS-VND and GA in many instances, which
means RAILS has higher robustness.
ANALYSIS AND DISCUSSIONS
The simulation results show that RAILS is superior to heuristic
rules such as EDD, Seed, and HRA in two scenarios. The
reason is that heuristic rules have poor universality and lack a
global search mechanism, thereby making it difficult to
obtain high-quality solutions.
It can also be found that the proposed algorithm has smaller
tardiness and higher robustness in all scenarios compared
with MS-VND, which is also a local search-based method.
The reason is that RAILS introduces a perturbation mechanism
based on RL to self-adaptively guide its search process,
1,000
2,000
3,000
4,000
5,000
MTCR
C
q
2,000
4,000
6,000
8,000
10,000
12,000
14,000
MTCR
C
q
2,000
4,000
6,000
8,000
10,000
MTCR
C
q
0.6 0.7 0.8 0.6 0.7 0.8
80
45
(e)
GA1
GA2
MS-VND
RAILS
FIGURE 3. The tardiness and CPU time where m 2= and ~ 2 .= (a)-(c) The tardiness and CPU time w.r.t. (, +3tW
(d)-(f) The tardiness and CPU time w.r.t. (, +4tW
tt
tt
).
JUNE 2023 IEEE ROBOTICS & AUTOMATION MAGAZINE
43
).
75
0.6 0.7 0.8 0.6 0.7 0.8
100
45
(c)
10
20
30
40
-40
-30
-20
-10
2,000
4,000
6,000
8,000
10,000
12,000
14,000
MTCR
C
q
0.6 0.7 0.8 0.6 0.7 0.8
100
45
(f)
75
75
0.6 0.7 0.8 0.6 0.7 0.8
60
45
(a)
10
20
30
40
-40
-30
-20
-10
1,000
2,000
3,000
4,000
5,000
MTCR
C
q
0.6 0.7 0.8 0.6 0.7 0.8
60
45
(d)
10
20
30
40
50
-50
-40
-30
-20
-10
75
75
10
20
30
-30
-20
-10
2,000
4,000
6,000
8,000
10,000
MTCR
C
q
0.6 0.7 0.8 0.6 0.7 0.8
80
45
(b)
10
20
30
-30
-20
-10
75
10
20
30
40
-40
-30
-20
-10
Tardiness (min)
Tardiness (min)
Tardiness (min)
CPU (s)
CPU (s)
Tardiness (min)
Tardiness (min)
CPU (s)
Tardiness (min)
CPU (s)
CPU (s)
CPU (s)

IEEE Robotics & Automation Magazine - June 2023

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - June 2023

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IEEE Robotics & Automation Magazine - June 2023 - Cover1
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