On the point-to-point and traveling salesperson problems for Dubins' vehicle

Savla, Ketan; Frazzoli, Emilio; Bullo, Francesco

doi:10.1109/acc.2005.1470055

Cited by 88 publications

(89 citation statements)

References 11 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The maximum over all assigned vehicles ultimately identifies the vehicle that travels the longest distance and has to yield to other vehicles more. Constraint (2) guarantees that the partial ordering is such that a sequence is assigned to each vehicle. Constraint (3) ensures that the partial ordering is such that there exists a feasible path between ordered targets.…”

Section: Problem Definitionmentioning

confidence: 99%

“…The DTSP considers some physical characteristics of the environment (e.g., kinematic constraints of the vehicle), however these features are assumed to be static. To the best of our knowledge, no variants of the DTSP and MVRP that consider locations as emerging obstacles have been studied (see examples in [2], [4]). Also, the only 1 Center for Applied Autonomous Sensor Systems,Örebro University, SE-70182 Sweden.…”

Section: Introductionmentioning

confidence: 99%

“…Strongly motivated from robotics, particularly the surveillance domain for UAVs, the TSP has also been adapted for vehicles with nonholonomic/dubins constraints. Two variants of this problem have been studied: the Euclidean TSP (ETSP), where the Euclidean metric is used to measure the distance between adjacent nodes; and the Dubins Traveling Salesperson Problem (DTSP) [2], where the problem is to find a shortest tour composed of paths of bounded curvature [3].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Multi vehicle routing with nonholonomic constraints and dense dynamic obstacles

Mansouri

Lagriffoul

Pecora

2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

View full text Add to dashboard Cite

Abstract-We introduce a variant of the multi-vehicle routing problem which accounts for nonholonomic constraints and dense, dynamic obstacles, called MVRP-DDO. The problem is strongly motivated by an industrial mining application. This paper illustrates how MVRP-DDO relates to other extensions of the vehicle routing problem. We provide an applicationindependent formulation of MVRP-DDO, as well as a concrete instantiation in a surface mining application. We propose a multi-abstraction search approach to compute an executable plan for the drilling operations of several machines in a very constrained environment. The approach is evaluated in terms of makespan and computation time, both of which are hard industrial requirements.

show abstract

Section: Problem Definitionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Multi vehicle routing with nonholonomic constraints and dense dynamic obstacles

Mansouri

Lagriffoul

Pecora

2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

View full text Add to dashboard Cite

show abstract

“…the candidate arcs for the final solution). This work is based on the alternating algorithm of Savla et al (2005) with the considerations of headings introduced by Ny et al (2012). The notations and results of Shkel and Lumelsky (2001) are used to achieve efficient computations of the Dubins curves.…”

Section: Automatic Planningmentioning

confidence: 99%

An Autonomous Robotic System for Mapping Weeds in Fields

Hansen

García-Ruiz

Kazmi

et al. 2013

IFAC Proceedings Volumes

View full text Add to dashboard Cite

show abstract

“…The basic model of such a vehicle with the limited turning radius is called the Dubins vehicle [1] for which the combinatorial problem of finding optimal sequence of visits to the locations is known as the Dubins Traveling Salesman Problem (DTSP) [2].…”

Section: Introductionmentioning

confidence: 99%

On Sampling Based Methods for the Dubins Traveling Salesman Problem With Neighborhoods

Váňa

Faigl

2015

APP

View full text Add to dashboard Cite

Abstract. In this paper, we address the problem of path planning to visit a set of regions by Dubins vehicle, which is also known as the Dubins Traveling Salesman Problem Neighborhoods (DTSPN). We propose a modification of the existing sampling-based approach to determine increasing number of samples per goal region and thus improve the solution quality if a more computational time is available. The proposed modification of the sampling-based algorithm has been compared with performance of existing approaches for the DTSPN and results of the quality of the found solutions and the required computational time are presented in the paper.

show abstract

On the point-to-point and traveling salesperson problems for Dubins' vehicle

Cited by 88 publications

References 11 publications

Multi vehicle routing with nonholonomic constraints and dense dynamic obstacles

Multi vehicle routing with nonholonomic constraints and dense dynamic obstacles

An Autonomous Robotic System for Mapping Weeds in Fields

On Sampling Based Methods for the Dubins Traveling Salesman Problem With Neighborhoods

Contact Info

Product

Resources

About