Related papers: Minimal Exposure Dubins Orienteering Problem
While maximizing line-of-sight coverage of specific regions or agents in the environment is a well-explored path planning objective, the converse problem of minimizing exposure to the entire environment during navigation is especially…
In practice, e.g. in delivery and service scenarios, Vehicle-Routing-Problems (VRPs) often imply repeated decision making on dynamic customer requests. As in classical VRPs, tours have to be planned short while the number of serviced…
This study proposes an end-to-end framework for solving multi-objective optimization problems (MOPs) using Deep Reinforcement Learning (DRL), that we call DRL-MOA. The idea of decomposition is adopted to decompose the MOP into a set of…
Debiased recommendation with a randomized dataset has shown very promising results in mitigating the system-induced biases. However, it still lacks more theoretical insights or an ideal optimization objective function compared with the…
In large scale coverage operations, such as marine exploration or aerial monitoring, single robot approaches are not ideal, as they may take too long to cover a large area. In such scenarios, multi-robot approaches are preferable.…
If we give a robot the task of moving an object from its current position to another location in an unknown environment, the robot must explore the map, identify all types of obstacles, and then determine the best route to complete the…
The paper addresses the problem of providing suitable reference trajectories in motion planning problems for autonomous vehicles. Among the various approaches to compute a reference trajectory, our aim is to find those trajectories which…
In this paper, we address the problem of time-optimal coordination of mobile robots under kinodynamic constraints along specified paths. We propose a novel approach based on time discretization that leads to a mixed-integer linear…
In this research, a unique approach to provide communication service for terrestrial receivers via using unmanned aerial vehicle-enabled visible light communication is investigated. Specifically, we take into account a unmanned aerial…
For many applications, drones are required to operate entirely or partially autonomously. To fly completely or partially on their own, drones need access to location services to get navigation commands. While using the Global Positioning…
This paper presents evolutionary methods for optimization in dynamic mobile robot path planning. In dynamic mobile path planning, the goal is to find an optimal feasible path from starting point to target point with various obstacles, as…
We consider several Vehicle Routing Problems (VRP) with profits, which seek to select a subset of customers, each one being associated with a profit, and to design service itineraries. When the sum of profits is maximized under distance…
Distributed Pseudo-tree Optimization Procedure (DPOP) is a well-known message passing algorithm that has been used to provide optimal solutions of Distributed Constraint Optimization Problems (DCOPs) -- a framework that is designed to…
We consider a mission framework in which two unmanned vehicles (UVs), a leader and a wingmate, are required to provide cooperative coverage of an environment while being within a short communication range. This framework finds applications…
In this work, we study a class of deception planning problems in which an agent aims to alter a security monitoring system's sensor readings so as to disguise its adversarial itinerary as an allowed itinerary in the environment. The…
In this paper, we consider the Constant-cost Orienteering Problem (COP) where a robot, constrained by a limited travel budget, aims at selecting a path with the largest reward in an aisle-graph. The aisle-graph consists of a set of loosely…
In this study, a single autonomous underwater vehicle (AUV) aims to rendezvous with a submerged leader recovery vehicle through a cluttered and variable operating field. The rendezvous problem is transformed into a nonlinear optimal control…
Real-world Constrained Multi-objective Optimization Problems (CMOPs) often contain multiple constraints, and understanding and utilizing the coupling between these constraints is crucial for solving CMOPs. However, existing Constrained…
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…
The drone delivery problem (DDP) has been introduced to include aerial vehicles in last-mile delivery operations to increase efficiency. However, the existing studies have not incorporated the communication quality requirements of such a…