Related papers: A Gradient Descent Method for The Dubins Traveling…
In this paper, a model of a pair of Dubins vehicles is considered. The vehicles move from an initial position and orientation to final position and orientation. A long the motion, the two vehicles are not allowed to collide however the two…
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 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…
This paper addresses the Dubins path planning problem for vehicles in 3D space. In particular, we consider the problem of computing CSC paths -- paths that consist of a circular arc (C) followed by a straight segment (S) followed by a…
The traveling salesman problem is one of the most studied combinatorial optimization problems, because of the simplicity in its statement and the difficulty in its solution. We characterize the optimal cycle for every convex and increasing…
This paper aims to develop a learning method for a special class of traveling salesman problems (TSP), namely, the pickup-and-delivery TSP (PDTSP), which finds the shortest tour along a sequence of one-to-one pickup-and-delivery nodes.…
Bearing-based distributed formation control is attractive because it can be implemented using vision-based measurements to achieve a desired formation. Gradient-descent-based controllers using bearing measurements have been shown to have…
Surveillance applications require a collection of heterogeneous vehicles to visit a set of targets. In this article, we consider a fundamental routing problem that arises in these applications involving two vehicles. Specifically, we…
We study the problem of finding a tour of $n$ points in which every edge is long. More precisely, we wish to find a tour that visits every point exactly once, maximizing the length of the shortest edge in the tour. The problem is known as…
This paper further defines the class of fragment constructive heuristics used to compute feasible solutions for the Traveling Salesman Problem into arc-greedy and node-greedy subclasses. Since these subclasses of heuristics can create…
This paper proposes a redundancy resolution algorithm for a redundant manipulator based on dynamic programming. This algorithm can compute the desired joint angles at each point on a pre-planned discrete path in Cartesian space, while…
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…
We consider the Travelling Salesman Problem with Vertex Requisitions, where for each position of the tour at most two possible vertices are given. It is known that the problem is strongly NP-hard. The proposed algorithm for this problem has…
At each iteration of a Block Coordinate Descent method one minimizes an approximation of the objective function with respect to a generally small set of variables subject to constraints in which these variables are involved. The…
Given a set $P$ of $n$ points with their pairwise distances, the traveling salesman problem (TSP) asks for a shortest tour that visits each point exactly once. A TSP instance is rectilinear when the points lie in the plane and the distance…
Once known to be used exclusively in military domain, unmanned aerial vehicles (drones) have stepped up to become a part of new logistic method in commercial sector called "last-mile delivery". In this novel approach, small unmanned aerial…
Seismic traveltime tomography represents a popular and useful tool for unravelling the structure of the subsurface across the scales. In this work we address the case where the forward model is represented by the eikonal equation and derive…
We propose an efficient branch-and-cut algorithm to exactly solve the parallel drone scheduling traveling salesman problem. Our algorithm can find optimal solutions for all but two existing instances with up to 229 customers in a reasonable…
The asymptotic behavior of the optimal TSP tour length is well known from the classical Beardwood--Halton--Hammersley theorem. We extend this result to the Traveling Salesman Problem with Drone (TSPD), a cooperative routing problem in which…
In this paper we schedule the travel path of a set of drones across a graph where the nodes need to be visited multiple times at pre-defined points in time. This is an extension of the well-known multiple traveling salesman problem. The…