相关论文: Minimal Exposure Dubins Orienteering Problem
Optimal transport (OT) is a framework that can guide the design of efficient resource allocation strategies in a network of multiple sources and targets. This paper applies discrete OT to a swarm of UAVs in a novel way to achieve…
This paper addresses an Optimal Transport (OT)-based efficient multi-robot exploration problem, considering the energy constraints of a multi-robot system. The efficiency in this problem implies how a team of robots (agents) covers a given…
Mobile robotic platforms are an indispensable tool for various scientific and industrial applications. Robots are used to undertake missions whose execution is constrained by various factors, such as the allocated time or their remaining…
In the field of evolutionary multiobjective optimization, the decision maker (DM) concerns conflicting objectives. In the real-world applications, there usually exist more than one DM and each DM concerns parts of these objectives.…
This paper presents the problem of lateral interception by a Dubins car of a target that moves along an a priori known trajectory. This trajectory is given by two coordinates of a planar location and one angle of a heading orientation,…
This paper is concerned with determining the shortest path for a pursuer aiming to intercept a moving target travelling at a constant speed. To address this challenge, we introduce an efficient mathematical model outlined as an optimal…
Learning-based heuristics for solving combinatorial optimization problems has recently attracted much academic attention. While most of the existing works only consider the single objective problem with simple constraints, many real-world…
This paper considers three related mobile robot multi-target sensory coverage and inspection planning problems in 2-D environments. In the first problem, a mobile robot must find the shortest path to observe multiple targets with a limited…
The Orthogonal Watchman Route Problem (OWRP) entails the search for the shortest path, known as the watchman route, that a robot must follow within a polygonal environment. The primary objective is to ensure that every point in the…
We develop polynomial-size LP-relaxations for {\em orienteering} and the {\em regret-bounded vehicle routing problem} (\rvrp) and devise suitable LP-rounding algorithms that lead to various new insights and approximation results for these…
In this paper, we study the well-known team orienteering problem where a fleet of robots collects rewards by visiting locations. Usually, the rewards are assumed to be known to the robots; however, in applications such as environmental…
In solving multi-modal, multi-objective optimization problems (MMOPs), the objective is not only to find a good representation of the Pareto-optimal front (PF) in the objective space but also to find all equivalent Pareto-optimal subsets…
This paper addresses an optimal control problem for a robot that has to find and collect a finite number of objects and move them to a depot in minimum time. The robot has fourth-order dynamics that change instantaneously at any pick-up or…
The orienteering problem is a well-studied and fundamental problem in transportation science. In the problem, we are given a graph with prizes on the nodes and lengths on the edges, together with a budget on the overall tour length. The…
This paper deals with the problem of autonomous navigation of a mobile robot in an unknown 2D environment to fully explore the environment as efficiently as possible. We assume a terrestrial mobile robot equipped with a ranging sensor with…
Autonomous Mobile Robots (AMRs) operate on battery power, making energy efficiency a critical consideration, particularly in outdoor environments where terrain variations affect energy consumption. While prior research has primarily focused…
Constrained multi-objective optimization problems (CMOPs) pervade real-world applications in science, engineering, and design. Constraint violation has been a building block in designing evolutionary multi-objective optimization algorithms…
The orienteering problem with time windows and variable profits (OPTWVP) is common in many real-world applications and involves continuous time variables. Current approaches fail to develop an efficient solver for this orienteering problem…
Partially observable Markov Decision Processes (POMDPs) are a standard model for agents making decisions in uncertain environments. Most work on POMDPs focuses on synthesizing strategies based on the available capabilities. However, system…
The Dubins Traveling Salesman Problem (DTSP) has generated significant interest over the last decade due to its occurrence in several civil and military surveillance applications. Currently, there is no algorithm that can find an optimal…