Related papers: A speed and departure time optimization algorithm …
The constrained path optimization (CPO) problem takes the following input: (a) a road network represented as a directed graph, where each edge is associated with a "cost" and a "score" value; (b) a source-destination pair and; (c) a budget…
The Capacitated Location Routing Problem is an important planning and routing problem in logistics, which generalizes the capacitated vehicle routing problem and the uncapacitated facility location problem. In this problem, we are given a…
We study the problem of deploying a fleet of mobile robots to service tasks that arrive stochastically over time and at random locations in an environment. This is known as the Dynamic Vehicle Routing Problem (DVRP) and requires robots to…
Incorporating speed probability distribution to the computation of the route planning in car navigation systems guarantees more accurate and precise responses. In this paper, we propose a novel approach for dynamically selecting the number…
In this paper, we consider a discrete-time stochastic control problem with uncertain initial and target states. We first discuss the connection between optimal transport and stochastic control problems of this form. Next, we formulate a…
A vehicle routing and crew scheduling problem (VRCSP) consists of simultaneously planning the routes of a fleet of vehicles and scheduling the crews, where the vehicle-crew correspondence is not fixed through time. This allows a greater…
We study the problem of optimal multi-robot path planning on graphs (MPP) over four distinct minimization objectives: the total arrival time, the makespan (last arrival time), the total distance, and the maximum (single-robot traveled)…
Public transport administrators rely on efficient algorithms for various problems that arise in public transport networks. In particular, our study focused on designing linear-time algorithms for two fundamental path problems: the earliest…
This paper presents a computationally efficient algorithm for eco-driving over long prediction horizons. The eco-driving problem is formulated as a bi-level program, where the bottom level is solved offline, pre-optimizing gear as a…
In this paper, an original heuristic algorithm of empty vehicles management in personal rapid transit network is presented. The algorithm is used for the delivery of empty vehicles for waiting passengers, for balancing the distribution of…
This paper addresses the problem of coordination of a fleet of mobile robots - the problem of finding an optimal set of collision-free trajectories for individual robots in the fleet. Many approaches have been introduced during the last…
Trajectory retiming is the task of computing a feasible time parameterization to traverse a path. It is commonly used in the decoupled approach to trajectory optimization whereby a path is first found, then a retiming algorithm computes a…
We design a coordination mechanism for truck drivers that uses pricing-and-routing schemes that can help alleviate traffic congestion in a general transportation network. We consider the user heterogeneity in Value-Of-Time (VOT) by adopting…
Planning under uncertainty is critical for robust robot performance in uncertain, dynamic environments, but it incurs high computational cost. State-of-the-art online search algorithms, such as DESPOT, have vastly improved the computational…
We consider the speed planning problem for a robotic manipulator. In particular, we present an algorithm for finding the time-optimal speed law along an assigned path that satisfies velocity and acceleration constraints and respects the…
We present a new algorithm for deploying passenger robots in marsupial robot systems. A marsupial robot system consists of a carrier robot (e.g., a ground vehicle), which is highly capable and has a long mission duration, and at least one…
We present a centralized algorithmic framework for solving multi-robot path planning problems in general, two-dimensional, continuous environments while minimizing globally the task completion time. The framework obtains high levels of…
This paper introduces a new algorithm for trajectory optimization, Decoupled Reduced-space and Adaptive Feasibility-repair Trajectory Optimization (DRAFTO). It first constructs a constrained objective that accounts for smoothness, safety,…
We introduce the Vehicle Routing Problem with Resource-Constrained Pickup and Delivery (VRP-RPD), where vehicles transport finite identical resources to customer locations for autonomous processing before retrieval and redeployment. Unlike…
During the last decade, sampling-based path planning algorithms, such as Probabilistic RoadMaps (PRM) and Rapidly-exploring Random Trees (RRT), have been shown to work well in practice and possess theoretical guarantees such as…