Related papers: Path Planning Problem under non-probabilistic Unce…
We propose a learning algorithm for solving the traveling salesman problem based on a simple strategy of trial and adaptation: i) A tour is selected by choosing cities probabilistically according to the ``synaptic'' strengths between…
We tackle the problem of trajectory planning in an environment comprised of a set of obstacles with uncertain time-varying locations. The uncertainties are modeled using widely accepted Gaussian distributions, resulting in a…
We propose that the statistics of the optimal tour in the planar random Euclidean traveling salesman problem is conformally invariant on large scales. This is exhibited in power-law behavior of the probabilities for the tour to zigzag…
Path planning in obstacle-dense environments is a key challenge in robotics, and depends on inferring scene attributes and associated uncertainties. We present a multiple-hypothesis path planner designed to navigate complex environments…
We report a globally-optimal approach to robotic path planning under uncertainty, based on the theory of quantitative measures of formal languages. A significant generalization to the language-measure-theoretic path planning algorithm…
When there are significant service disruptions in public transit systems, passengers usually need guidance to find alternative paths. This paper proposes a path recommendation model to mitigate congestion during public transit disruptions.…
This paper focuses on developing new navigation and reconnaissance capabilities for cooperative unmanned systems in uncertain environments. The goal is to design a cooperative multi-vehicle system that can survey an unknown environment and…
Consider~\(n\) nodes~\(\{X_i\}_{1 \leq i \leq n}\) distributed independently across~\(N\) cities contained with the unit square~\(S\) according to a distribution~\(f.\) Each city is modelled as an~\(r_n \times r_n\) square contained…
We consider optimal route planning when the objective function is a general nonlinear and non-monotonic function. Such an objective models user behavior more accurately, for example, when a user is risk-averse, or the utility function needs…
For high level path planning, environments are usually modeled as distance graphs, and path planning problems are reduced to computing the shortest path in distance graphs. One major drawback of this modeling is the inability to model…
Traveling salesman problem is a NP-hard problem. Until now, researchers have not found a polynomial time algorithm for traveling salesman problem. Among the existing algorithms, dynamic programming algorithm can solve the problem in time…
Given a graph whose arc traversal times vary over time, the Time-Dependent Travelling Salesman Problem consists in finding a Hamiltonian tour of least total duration covering the vertices of the graph. The main goal of this work is to…
We consider robust shortest path problems, where the aim is to find a path that optimizes the worst-case performance over an uncertainty set containing all relevant scenarios for arc costs. The usual approach for such problems is to assume…
Proposed initially from a practical circumstance, the traveling salesman problem caught the attention of numerous economists, computer scientists, and mathematicians. These theorists were instead intrigued by seeking a systemic way to find…
This paper presents a solution for the problem of optimal planning for a robot in a collaborative human-robot team, where the human supervisor is intermittently available to assist the robot in completing tasks more quickly. Specifically,…
Trajectory planning under uncertainty is an active research topic. Previous works predict state and state estimation uncertainties along trajectories to check for collision safety. They assume either stochastic or bounded sensing…
In this article, we consider transport networks with uncertain demands. Network dynamics are given by linear hyperbolic partial differential equations and suitable coupling conditions, while demands are incorporated as solutions to…
Consider a customer who needs to fulfill a shopping list, and also a personal shopper who is willing to buy and resell to customers the goods in their shopping lists. It is in the personal shopper's best interest to find (shopping) routes…
This work addresses the problem of vehicle path planning in the presence of obstacles and uncertainties, which is a fundamental problem in robotics. While many path planning algorithms have been proposed for decades, many of them have dealt…
Path planning is an important component in any highly automated vehicle system. In this report, the general problem of path planning is considered first in partially known static environments where only static obstacles are present but the…