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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…
A framework is introduced for planning unmanned aerial vehicle flight paths for visual surveillance of ground targets, each having particular viewing requirements. Specifically, each target is associated with a set of imaging parameters,…
In this work we revisit the Hopfield-Tank algorithm for the traveling salesman problem (TSP) and report encouraging results, with a different dynamics, that makes the algorithm more efficient finding better solutions in much less…
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…
This paper presents a robust tracking controller for tracking curvature-constrained paths by vehicles/robots with uncertain Dubins dynamics. Although Dubins paths have been widely used in vehicular and robotic applications, robust and…
This paper presents a novel learning approach for Dubins Traveling Salesman Problems(DTSP) with Neighborhood (DTSPN) to quickly produce a tour of a non-holonomic vehicle passing through neighborhoods of given task points. The method…
We first show that the Traveling Salesman Problem in an n-vertex graph with average degree bounded by d can be solved in O*(2^{(1-\eps_d)n}) time and exponential space for a constant \eps_d depending only on d, where the O*-notation…
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…
We study the problem of the Unmanned Aerial Vehicle (UAV) such that a specific set of objects needs to be observed while ensuring a quality of observation. Our goal is to determine the shortest path for the UAV. This paper proposes an…
We address the problem of controlling a stochastic version of a Dubins vehicle such that the probability of satisfying a temporal logic specification over a set of properties at the regions in a partitioned environment is maximized. We…
In the Distance-constrained Vehicle Routing Problem (DVRP), we are given a graph with integer edge weights, a depot, a set of $n$ terminals, and a distance constraint $D$. The goal is to find a minimum number of tours starting and ending at…
An underactuated nonholonomic Dubins-vehicle-like robot with a lower-limited turning radius travels with a constant speed in a plane, which hosts unknown complex objects. The robot has to approach and then circumnavigate all objects, with…
In the path version of the Travelling Salesman Problem (Path-TSP), a salesman is looking for the shortest Hamiltonian path through a set of n cities. The salesman has to start his journey at a given city s, visit every city exactly once,…
We study a travelling salesman problem where the path is optimized with a cost function that includes its length $L$ as well as a certain measure $C$ of its distance from the geometrical center of the graph. Using simulated annealing (SA)…
We give the first algorithmic study of a class of ``covering tour'' problems related to the geometric Traveling Salesman Problem: Find a polygonal tour for a cutter so that it sweeps out a specified region (``pocket''), in order to minimize…
This paper proposes a hybrid genetic algorithm for solving the Multiple Traveling Salesman Problem (mTSP) to minimize the length of the longest tour. The genetic algorithm utilizes a TSP sequence as the representation of each individual,…
We present a 1.91457-approximation algorithm for the prize-collecting travelling salesman problem. This is obtained by combining a randomized variant of a rounding algorithm of Bienstock et al. and a primal-dual algorithm of Goemans and…
To deal with the task assignment problem of multi-AUV systems under kinematic constraints, which means steering capability constraints for underactuated AUVs or other vehicles likely, an improved task assignment algorithm is proposed…
We propose a simple subsampling scheme for fast randomized approximate computation of optimal transport distances. This scheme operates on a random subset of the full data and can use any exact algorithm as a black-box back-end, including…
We give a probabilistic analysis of the unit-demand Euclidean capacitated vehicle routing problem in the random setting, where the input distribution consists of $n$ unit-demand customers modeled as independent, identically distributed…