Related papers: Minimal Exposure Dubins Orienteering Problem
We develop an approach for solving rooted orienteering problems with category constraints as found in tourist trip planning and logistics. It is based on expanding partial solutions in a systematic way, prioritizing promising ones, which…
The Team Orienteering Problem (TOP) is an NP-hard routing problem in which a fleet of identical vehicles aims at collecting rewards (prizes) available at given locations, while satisfying restrictions on the travel times. In TOP, each…
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 consider an orienteering problem (OP) where an agent needs to visit a series (possibly a subset) of depots, from which the maximal accumulated profits are desired within given limited time budget. Different from most existing works where…
In recent years, the mobile robot has been considerable attention to researchers for its application in various environments. For a mobile robot navigating its way from starting point to a goal point while traversing through deterrents,…
We formulate a novel planar motion planning problem for a Dubins-Laser system that consists of a Dubins vehicle with an attached controllable laser. The vehicle moves with unit speed and the laser, having a finite range, can rotate in a…
The Team Orienteering Problem (TOP) is an attractive variant of the Vehicle Routing Problem (VRP). The aim is to select customers and at the same time organize the visits for a vehicle fleet so as to maximize the collected profits and…
Vehicle-based mobile sensing is an emerging data collection paradigm that leverages vehicle mobilities to scan a city at low costs. Certain urban sensing scenarios require dedicated vehicles for highly targeted monitoring, such as volatile…
In this study, we propose an algorithmic framework for solving a class of optimal control problems. This class is associated with the minimum-time interception of moving target problems, where a plant with a given state equation must…
This work considers a Motion Planning Problem with Dynamic Obstacles (MPDO) in 2D that requires finding a minimum-arrival-time collision-free trajectory for a point robot between its start and goal locations amid dynamic obstacles moving…
This article proposes the first known algorithm that achieves a constant-factor approximation of the minimum length tour for a Dubins' vehicle through $n$ points on the plane. By Dubins' vehicle, we mean a vehicle constrained to move at…
We present a path planning problem for a pursuer to intercept a target traveling on a circle. The pursuer considered here has limited yaw rate, and therefore its path should satisfy the kinematic constraints. We assume that the distance…
This study proposes a novel multi-objective integer programming model for a collision-free discrete drone path planning problem. Considering the possibility of bypassing obstacles or flying above them, this study aims to minimize the path…
We address the optimal dynamic formation problem in mobile leader-follower networks where an optimal formation is generated to maximize a given objective function while continuously preserving connectivity. We show that in a convex mission…
This paper proposes MOON (Multi-Objective Optimization-driven Object-goal Navigation), a novel framework designed for efficient navigation in large-scale, complex indoor environments. While existing methods often rely on local heuristics,…
Multi-robot navigation and path planning in continuous state and action spaces with uncertain environments remains an open challenge. Deep Reinforcement Learning (RL) is one of the most popular paradigms for solving this task, but its…
This paper investigates the problem of planning a minimum-length tour for a three-dimensional Dubins airplane model to visually inspect a series of targets located on the ground or exterior surface of objects in an urban environment.…
This paper proposes a novel mission planning algorithm for autonomous robots that selects an optimal waypoint sequence from a predefined set to maximize total reward while satisfying obstacle avoidance, state, input, derivative, mission…
We study the problem of tracking multiple moving targets using a team of mobile robots. Each robot has a set of motion primitives to choose from in order to collectively maximize the number of targets tracked or the total quality of…
This paper addresses the problem of planning time-optimal trajectories for multiple cooperative agents along specified paths through a static road network. Vehicle interactions at intersections create non-trivial decisions, with complex…