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

This paper studies the multi-robot reliable navigation problem in uncertain topological networks, which aims at maximizing the robot team's on-time arrival probabilities in the face of road network uncertainties. The uncertainty in these…

Multi-robot path finding in dynamic environments is a highly challenging classic problem. In the movement process, robots need to avoid collisions with other moving robots while minimizing their travel distance. Previous methods for this…

This thesis introduces stochastic generalized routing problem model and proposes exact and heuristic algorithms to solve it efficiently, in a wide range of problem sizes. At first, the classic routing problem with its common variations in…

This paper presents a new framework for anytime heuristic search where the task is to achieve as many goals as possible within the allocated resources. We show the inadequacy of traditional distance-estimation heuristics for tasks of this…

The efficiency and dynamism of Unmanned Aerial Vehicles (UAVs), or drones, present substantial application opportunities in several industries in the last years. Notably, the logistic companies gave close attention to these vehicles…

We introduce and study the Joint Task Assistance Planning problem which generalizes prior work on optimizing assistance in robotic collaboration. In this setting, two robots operate over predefined roadmaps, each represented as a graph…

The Vehicle Routing Problem is about optimizing the routes of vehicles to meet the needs of customers at specific locations. The route graph consists of depots on several levels and customer positions. Several optimization methods have been…

The Clustered Traveling Salesman Problem with a Prespecified Order on the Clusters, a variant of the well-known traveling salesman problem is studied in literature. In this problem, delivery locations are divided into clusters with…

In this paper, we address a class of specially structured problems that include speed planning, for mobile robots and robotic manipulators, and dynamic programming. We develop two new numerical procedures, that apply to the general case and…

Graph clustering is the process of grouping vertices into densely connected sets called clusters. We tailor two mathematical programming formulations from the literature, to this problem. In doing so, we obtain a heuristic approximation to…

Understanding the behaviour of heuristic search methods is a challenge. This even holds for simple local search methods such as 2-OPT for the Traveling Salesperson problem. In this paper, we present a general framework that is able to…

We present a method to apply heuristic search algorithms to solve rearrangement planning by pushing problems. In these problems, a robot must push an object through clutter to achieve a goal. To do this, we exploit the fact that contact…

In this paper we present distributed and adaptive algorithms for motion coordination of a group of m autonomous vehicles. The vehicles operate in a convex environment with bounded velocity and must service demands whose time of arrival,…

A new characterization of Hamiltonian graphs using f-cutset matrix is proposed. Based on this new characterization, a new exact polynomial time algorithm for the traveling salesman problem (TSP) is developed. We then define the so-called…

Conflict-Based Search is one of the most popular methods for multi-agent path finding. Though it is complete and optimal, it does not scale well. Recent works have been proposed to accelerate it by introducing various heuristics. However,…

Graph problems such as traveling salesman problem, or finding minimal Steiner trees are widely studied and used in data engineering and computer science. Typically, in real-world applications, the features of the graph tend to change over…

This paper works on heuristic solver for joint assignment and routing optimization problem. Study on previous works shows that MIP based exact solvers can only provide efficient solutions for small to moderate size problems, due to…

This paper considers a generalization of the Path Finding (PF) problem with refuelling constraints referred to as the Gas Station Problem (GSP). Similar to PF, given a graph where vertices are gas stations with known fuel prices, and edge…

Self-stabilization is a versatile technique to withstand any transient fault in a distributed system. Mobile robots (or agents) are one of the emerging trends in distributed computing as they mimic autonomous biologic entities. The…

We study the parameterized complexity of a generalization of the coordinated motion planning problem on graphs, where the goal is to route a specified subset of a given set of $k$ robots to their destinations with the aim of minimizing the…