Algorithms for parallel machine scheduling: a case study of the tracking and data relay satellite system

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Algorithms for parallel machine scheduling: a case study of the tracking and data relay satellite system S Rojanasoonthon1, JF Bard1,* and SD Reddy2 1 Graduate Program in Operations Research, University of Texas, Austin, TX, USA; and 2Computer Sciences Corporation, New Carrollton, MD, USA

This paper presents two algorithms for scheduling a set of jobs with multiple priorities on non-homogeneous, parallel machines. The application of interest involves the tracking and data relay satellite system run by the US National Aeronautics and Space Administration. This system acts as a relay platform for Earth-orbiting vehicles that wish to communicate periodically with ground stations. The problem is introduced and then compared to other more common scheduling and routing problems. Next, a mixed-integer linear programming formulation is given but was found to be too difficult to solve for instances of realistic size. This led to the development of a dynamic programming-like heuristic and a greedy randomized adaptive search procedure. Each is described in some detail and then compared using data from a typical busy day scenario. Journal of the Operational Research Society (2003) 54, 806–821. doi:10.1057/palgrave.jors.2601575 Keywords: parallel machine scheduling; range scheduling; job priorities; GRASP; heuristics; dynamic programming

Introduction Planning problems associated with the operation of groundbased systems for satellite command, control, and communications are referred to as range scheduling problems. The name derives from the need to allocate resources over a range of times to satisfy user requirements. Early work in this area, starting in the 1980s, was aimed at automating rules and procedures used by operations personnel. Arbabi1,2 was the first to develop a computer-based planning system. His heuristic was called the continuous time scheduling algorithm and made use of a complex set of priorities, rules and exceptions that one learned by extensive on-the-job training. A team at IBM developed a second method for the National Aeronautics and Space Administration (NASA) using mathematical programming, but their approach was only suitable for small problems due to unacceptably long run times. The purpose of this paper is to present two improved algorithms for solving the range scheduling problem associated with NASA’s tracking and data relay satellite system (TDRSS). The major components of this system consist of two satellites in geosynchronous orbit, each serving as a relay platform for communications between low-orbiting spacecraft and ground terminals. Spacecraft

*Correspondence: JF Bard, Graduate Program in Operations Research, ETC 5.160, C2200, University of Texas, Austin, TX 78712-1063, USA. E-mail: [email protected]

can communicate with the TDRSS only when they are within line-of-sight range. The scheduling problem encountered in managing the TDRSS closely reflects the problem of scheduling