Related papers: Path Planning Problem under non-probabilistic Unce…
This paper addresses the problem of planning a safe (i.e., collision-free) trajectory from an initial state to a goal region when the obstacle space is a-priori unknown and is incrementally revealed online, e.g., through line-of-sight…
This paper addresses path planning of an unmanned aerial vehicle (UAV) with remote sensing capabilities (or wireless communication capabilities). The goal of the path planning is to find a minimum-flight-time closed tour of the UAV visiting…
The Traveling Salesman Problem (TSP) is among the most famous NP-hard optimization problems. We design for this problem a randomized polynomial-time algorithm that computes a (1+eps)-approximation to the optimal tour, for any fixed eps>0,…
We improve reliable, long-horizon, goal-directed navigation in partially-mapped environments by using non-locally available information to predict the goodness of temporally-extended actions that enter unseen space. Making predictions about…
Orienteering problems (OPs) are a variant of the well-known prize-collecting traveling salesman problem, where the salesman needs to choose a subset of cities to visit within a given deadline. OPs and their extensions with stochastic travel…
We consider a variation of the well-known traveling salesman problem in which there are multiple agents who all have to tour the whole set of nodes of the same graph, while obeying node- and edge-capacity constraints require that agents…
Despite a tremendous amount of work in the literature and in the commercial sectors, current approaches to multi-modal trip planning still fail to consistently generate plans that users deem optimal in practice. We believe that this is due…
In this paper, we address the trajectory planning problem in uncertain nonconvex static and dynamic environments that contain obstacles with probabilistic location, size, and geometry. To address this problem, we provide a risk bounded…
The traveling salesman problem (TSP) consists of finding the length of the shortest closed tour visiting N ``cities''. We consider the Euclidean TSP where the cities are distributed randomly and independently in a d-dimensional unit…
We consider the problems of exploration and point-goal navigation in previously unseen environments, where the spatial complexity of indoor scenes and partial observability constitute these tasks challenging. We argue that learning…
We give a 7/9 - Approximation Algorithm for the Maximum Traveling Salesman Problem.
The Travelling Salesman Problem (TSP) is a well known and challenging combinatorial optimisation problem. Its computational intractability has attracted a number of heuristic approaches to generate satisfactory, if not optimal, candidate…
For all line-based transit systems like bus, metro and tram, the routes of the lines and the frequencies at which they are operated are determining for the operational performance of the system. However, as transit line planning happens…
We show that the traveling salesman problem (TSP) and its many variants may be modeled as functional optimization problems over a graph. In this formulation, all vertices and arcs of the graph are functionals; i.e., a mapping from a space…
In a near future drones are likely to become a viable way of distributing parcels in a urban environment. In this paper we consider the parallel drone scheduling traveling salesman problem, where a set of customers requiring a delivery is…
Estimating collision probabilities between robots and environmental obstacles or other moving agents is crucial to ensure safety during path planning. This is an important building block of modern planning algorithms in many application…
In the bipartite travelling salesman problem (BTSP), we are given $n=2k$ cities along with an $n\times n$ distance matrix and a partition of the cities into $k$ red and $k$ blue cities. The task is to find a shortest tour which alternately…
In this paper, we give a double twist to the problem of planning under uncertainty. State-of-the-art planners seek to minimize the localization uncertainty by only considering the geometric structure of the scene. In this paper, we argue…
Many combinatorial optimization problems can be formulated as the search for a subgraph that satisfies certain properties and minimizes the total weight. We assume here that the vertices correspond to points in a metric space and can take…
In this work, we consider extensions of both the Line Traveling Salesman and Line Traveling Repairman Problem, in which a single server must service a set of clients located along a line segment under the assumption that not only the…