Related papers: Discrete Route/Trajectory Decision Making Problems
The problem at the heart of this tutorial consists in modeling the path choice behavior of network users. This problem has been extensively studied in transportation science, where it is known as the route choice problem. In this…
The paper describes multistage design of composite (modular) systems (i.e., design of a system trajectory). This design process consists of the following: (i) definition of a set of time/logical points; (ii) modular design of the system for…
We propose a microscopic decision model for route choice based on discrete choice theory. The correlation of overlapping routes is included in the random portions of the utility explicitly. For computational efficiency, we restrict the…
Motion planning for urban environments with numerous moving agents can be viewed as a combinatorial problem. With passing an obstacle before, after, right or left, there are multiple options an autonomous vehicle could choose to execute.…
Many discrete optimization problems are amenable to constrained shortest-path reformulations in an extended network space, a technique that has been key in convexification, bound strengthening, and search. In this paper, we propose a…
In this work, we introduce the problem of scenic routes among points in Rd. The key development is the nature of the problem in terms of both defining the concept of scenic points and scenic routes and then coming up with algorithms that…
In this paper, we address a bicriteria network design problem that arises from practical applications in urban and rural public transportation planning. We establish the problem's complexity and demonstrate inapproximability results,…
We survey recent advances in algorithms for route planning in transportation networks. For road networks, we show that one can compute driving directions in milliseconds or less even at continental scale. A variety of techniques provide…
Motion planning is a difficult problem in robot control. The complexity of the problem is directly related to the dimension of the robot's configuration space. While in many theoretical calculations and practical applications the…
Balancing traffic flow by influencing drivers' route choices to alleviate congestion is becoming increasingly more appealing in urban traffic planning. Here, we introduce a discrete dynamical model comprising users who make their own…
This paper explores an eclectic range of path-planning methodologies engineered for rolling surfaces. Our focus is on the kinematic intricacies of rolling contact systems, which are investigated through a motion planning lens. Beyond…
Transportation is an essential area in the nowadays society, both for business sector and citizenry. There are different kinds of transportation systems, each one with its own characteristics. In the same way, various areas of knowledge can…
Due to the practical importance of vehicle routing problems (VRP), there exists an ever-growing body of research in algorithms and (meta)heuristics for solving such problems. However, the diversity of VRP domains creates the separate…
Given a set of basic areas, the territory design problem asks to create a predefined number of territories, each containing at least one basic area, such that an objective function is optimized. Desired properties of territories often…
Autonomous explorative robots frequently encounter scenarios where multiple future trajectories can be pursued. Often these are cases with multiple paths around an obstacle or trajectory options towards various frontiers. Humans in such…
Existing motion planning methods often have two drawbacks: 1) goal configurations need to be specified by a user, and 2) only a single solution is generated under a given condition. In practice, multiple possible goal configurations exist…
Districting is a complex combinatorial problem that consists in partitioning a geographical area into small districts. In logistics, it is a major strategic decision determining operating costs for several years. Solving districting…
Multi-vehicle trajectory planning is a non-convex problem that becomes increasingly difficult in dense environments due to the rapid growth of collision constraints. Efficient exploration of feasible behaviors and resolution of tight…
Abstract: we present a framework for robust autonomous driving motion planning system in urban environments which includes trajectory refinement, trajectory interpolation, avoidance of static and dynamic obstacles, and trajectory tracking.…
Compositionality is a key strategy for addressing combinatorial complexity and the curse of dimensionality. Recent work has shown that compositional solutions can be learned and offer substantial gains across a variety of domains, including…