On the Solution of the Travelling Salesman Problem for Nonlinear Salesman Dynamics using Symbolic Optimal Control

Weber, Alexander; Knoll, Alexander

doi:10.23919/ecc54610.2021.9655131

Cited by 3 publications

(8 citation statements)

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“…4. (This scenario extends the one in [6].) The truck has capacity 3 and shall visit the 8 target areas A 2 , .…”

Section: B Experimental Evaluationmentioning

confidence: 71%

“…Fig. 1: Controller structure [6] used in this work. The scheduler switches between memoryless controllers µ 1 , .…”

Section: Notationmentioning

confidence: 99%

“…Specifically, the controller µ k,j steers a state signal starting in ∪ N i=1 A i to A T k (j) . This key property of Algorithm 1 is due to line 1 since line 9 does not change the suboptimality of µ k,j [6].…”

Section: A Problem Definition and Heuristic Optimizationmentioning

confidence: 99%

“…We would like to give a concrete example to which the algorithm to be presented can be applied. We consider a reconnaissance mission [6], where two UAVs have to visit 40 areas of interest at minimum cost. The UAVs start and must return to the airfield, avoid obstacles, and share the task of visiting the areas.…”

Section: A Motivating Examplementioning

confidence: 99%

“…[3]- [5]. In our preceding work [6], we considered the classical travelling salesman problem for arbitrary nonlinear dynamics.…”

Section: Introductionmentioning

confidence: 99%

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Vehicle mission guidance by symbolic optimal control

Weber¹,

Florian²,

Knoll³

2022

Preprint

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Symbolic optimal control is a powerful method to synthesize algorithmically correct-by-design state-feedback controllers for nonlinear plants. Its solutions are (near-)optimal with respect to a given cost function. In this note, it is demonstrated how symbolic optimal control can be used to calculate controllers for an optimized routing guidance of vehicle systems in continuous state space. In fact, the capacitated vehicle routing problem and a variant of travelling salesman problem are investigated. The latter problem has a relevant application in case of loss of vehicles during mission. A goods delivery scenario and a reconnaissance mission, involving bicycle and aircraft dynamics respectively, are provided as examples.

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“…4. (This scenario extends the one in [6].) The truck has capacity 3 and shall visit the 8 target areas A 2 , .…”

Section: B Experimental Evaluationmentioning

confidence: 71%

“…Fig. 1: Controller structure [6] used in this work. The scheduler switches between memoryless controllers µ 1 , .…”

Section: Notationmentioning

confidence: 99%

Section: A Problem Definition and Heuristic Optimizationmentioning

confidence: 99%

Section: A Motivating Examplementioning

confidence: 99%

“…[3]- [5]. In our preceding work [6], we considered the classical travelling salesman problem for arbitrary nonlinear dynamics.…”