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An algorithm for robot formation path planning is presented in this paper. Given a map of the working environment, the algorithm finds a path for a formation taking into account possible split of the formation and its consecutive merge. The…
In this paper, we consider the problem of Multi-Robot Path Planning (MRPP) in continuous space. The difficulty of the problem arises from the extremely large search space caused by the combinatorial nature of the problem and the continuous…
This article considers two variants of a shortest path problem for a car-like robot visiting a set of waypoints. The sequence of waypoints to be visited is specified in the first variant while the robot is allowed to visit the waypoints in…
We study a problem where k autonomous mobile agents are initially located on distinct nodes of a weighted graph (with n nodes and m edges). Each autonomous mobile agent has a predefined velocity and is only allowed to move along the edges…
Graph-based multi-robot path planning (MRPP) is NP-hard to optimally solve. In this work, we propose the first low polynomial-time algorithm for MRPP achieving 1--1.5 asymptotic optimality guarantees on makespan for random instances under…
In this paper we study a multi-robot path planning problem for persistent monitoring of an environment. We represent the areas to be monitored as the vertices of a weighted graph. For each vertex, there is a constraint on the maximum time…
This paper addresses an optimal control problem for a robot that has to find and collect a finite number of objects and move them to a depot in minimum time. The robot has fourth-order dynamics that change instantaneously at any pick-up or…
Three standard subtree transfer operations for binary trees, used in particular for phylogenetic trees, are: tree bisection and reconnection ($TBR$), subtree prune and regraft ($SPR$) and rooted subtree prune and regraft ($rSPR$). For a…
The number of optimization techniques in the combinatorial domain is large and diversified. Nevertheless, real-world based benchmarks for testing algorithms are few. This work creates an extensible real-world mail delivery benchmark to the…
In this paper, we address the problem of scheduling a set of robots to complete tasks in a laboratory environment, modelled as a graph, while avoiding collisions. We analyze the dynamic programming algorithm (PA) introduced in…
Minimising the longest travel distance for a group of mobile robots with interchangeable goals requires knowledge of the shortest length paths between all robots and goal destinations. Determining the exact length of the shortest paths in…
In this paper, we propose a new method for path planning to a point for robot in environment with obstacles. The resulting algorithm is implemented as a simple variation of Dijkstra's algorithm. By adding a constraint to the shortest-path,…
This paper reviews the overview of the dynamic shortest path routing problem and the various neural networks to solve it. Different shortest path optimization problems can be solved by using various neural networks algorithms. The routing…
The two-echelon inventory-routing problem (2E-IRP) addresses the coordination of inventory management and freight transportation throughout a two-echelon supply network. The latter consists of geographically widespread customers whose…
In this paper, we study the Orienteering Aisle-graphs Single-access Problem (OASP), a variant of the orienteering problem for a robot moving in a so-called single-access aisle-graph, i.e., a graph consisting of a set of rows that can be…
This paper presents a distributed, optimal, communication-aware trajectory planning algorithm for multi-robot systems. Building on prior work, it addresses the multi-robot communication-aware trajectory planning problem using a general…
We study the problem of path planning for unlabeled (indistinguishable) unit-disc robots in a planar environment cluttered with polygonal obstacles. We introduce an algorithm which minimizes the total path length, i.e., the sum of lengths…
The Vehicle Routing Problem with Route Balancing (VRPRB) is a biobjective version of the original Vehicle Routing Problem (VRP) in which, besides minimizing the total distance traveled by the vehicles involved, the balance among route loads…
We propose an approach to solve multi-agent path planning (MPP) problems for complex environments. Our method first designs a special pebble graph with a set of feasibility constraints, under which MPP problems have feasibility guarantee.…
This paper considers a joint pollution-routing and speed optimization problem (PRP-SO) where fuel costs and $\textit{CO}_2e$ emissions depend on the vehicle speed, arc payloads, and road grades. We present two methods, one approximate and…