相关论文: On multi-robot search for a stationary object

We study the problem of selecting a fleet of robots to service spatially distributed tasks with diverse requirements within time-windows. The problem of allocating tasks to a fleet of potentially heterogeneous robots and finding an optimal…

The Stacker Crane Problem (SCP) is a variant of the Traveling Salesman Problem. In SCP, pairs of pickup and delivery points are designated on a graph, and a crane must visit these points to move objects from each pickup location to its…

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…

In logistic applications that require the pickup and delivery of items, route optimization problems can be modeled as precedence constrained traveling salesperson problems. The combinatorial nature of this problem restricts the application…

We present an algorithm for finding optimal paths for multiple stochastic agents in a graph to reach their destinations with a user-specified maximum pairwise collision probability. Our algorithm, called STT-CBS, uses Conflict-Based Search…

Motivated by ride-sharing platforms' efforts to reduce their riders' wait times for a vehicle, this paper introduces a novel problem of placing vehicles to fulfill real-time pickup requests in a spatially and temporally changing…

Solutions to the Traveling Salesperson Problem (TSP) have practical applications to processes in transportation, logistics, and automation, yet must be computed with minimal delay to satisfy the real-time nature of the underlying tasks.…

This work considers the problem of optimize the routes of the vehicles used by a real agricultural cooperative that distributes animal feed among the partners. Because solving the exact model is computationally burdensome, we propose to…

In this paper, we study the problem of optimal multi-robot path planning (MPP) on graphs. We propose two multiflow based integer linear programming (ILP) models that computes minimum last arrival time and minimum total distance solutions…

We study solution discovery, where the goal is to obtain a feasible solution to a problem from an initial configuration by a bounded sequence of local moves. In many applications, however, the graph that defines which vertex sets are…

When performing manipulation-based activities such as picking objects, a mobile robot needs to position its base at a location that supports successful execution. To address this problem, prominent approaches typically rely on costly grasp…

Autonomous exploration and multi-object tracking by a team of agents have traditionally been considered as two separate, yet related, problems which are usually solved in two phases: an exploration phase then a tracking phase. The…

Ride-sharing is an essential aspect of modern urban mobility. In this paper, we consider a classical problem in ride-sharing - the Multi-Vehicle Dial-a-Ride Problem (Multi-Vehicle DaRP). Given a fleet of vehicles with a fixed capacity…

Vehicle routing problems (VRPs) form a class of combinatorial problems with wide practical applications. While previous heuristic or learning-based works achieve decent solutions on small problem instances of up to 100 cities, their…

In a carsharing system, a fleet of cars is distributed at stations in an urban area, customers can take and return cars at any time and station. For operating such a system in a satisfactory way, the stations have to keep a good ratio…

The Travelling Salesman Problem (TSP) is one of the most popular Combinatorial Optimization Problem. It is well solicited for the large variety of applications that it can solve, but also for its difficulty to find optimal solutions. One of…

Vehicular fog computing (VFC) is envisioned as an extension of cloud and mobile edge computing to utilize the rich sensing and processing resources available in vehicles. We focus on slow-moving cars that spend a significant time in urban…

In this work, a study on Variable Neighborhood Search algorithms for multi-depot dial-a-ride problems is presented. In dial-a-ride problems patients need to be transported from pre-specified pickup locations to pre-specified delivery…

Increasing interest in integrating advanced robotics within manufacturing has spurred a renewed concentration in developing real-time scheduling solutions to coordinate human-robot collaboration in this environment. Traditionally, the…

While there are optimal TSP solvers, as well as recent learning-based approaches, the generalization of the TSP to the Multiple Traveling Salesmen Problem is much less studied. Here, we design a neural network solution that treats the…