Traveling Salesperson Problems for the Dubins Vehicle

Savla, Ketan; Frazzoli, Emilio; Bullo, Francesco

doi:10.1109/tac.2008.925814

Cited by 214 publications

(188 citation statements)

References 25 publications

Supporting

Mentioning

186

Contrasting

Order By: Relevance

“…Bounds on the length of the optimal pointto-point Dubins path from 14 give us that L u−turn ≤ w +κπρ and L closure ≤ W +H +2ρ+κπρ, where κ ≈ 8/3. Substituting these bounds into Eq.…”

Section: The Strip Loitering (Sl) Policymentioning

confidence: 99%

Stochastic and Dynamic Routing Problems for Multiple Uninhabited Aerial Vehicles

Enright

Savla

Bullo

2009

Journal of Guidance, Control, and Dynamics

Self Cite

View full text Add to dashboard Cite

Consider a routing problem for a team of vehicles in the plane: target points appear randomly over time in a bounded environment and must be visited by one of the vehicles. It is desired to minimize the expected system time for the targets, i.e., the expected time elapsed between the appearance of a target point, and the instant it is visited. In this paper, such a routing problem is considered for a team of Uninhabited Aerial Vehicles (UAVs), modeled as vehicles moving with constant forward speed along paths of bounded curvature. Three algorithms are presented, each designed for a distinct set of operating conditions. Each is proven to provide a system time within a constant factor of the optimal when operating under the appropriate conditions. It is shown that the optimal routing policy depends on problem parameters such as the workload per vehicle and the vehicle density in the environment. Finally, there is discussion of a phase transition between two of the policies as the problem parameters are varied. In particular, for the case in which targets appear sporadically, a dimensionless parameter is identified which completely captures this phase transition and an estimate of the critical value of the parameter is provided. Special Euclidean group in two dimensions (i.e., the group of rigid planar motions) t time, s T the steady-state system time, s v vehicle speed, ms −1

show abstract

Section: The Strip Loitering (Sl) Policymentioning

confidence: 99%

Stochastic and Dynamic Routing Problems for Multiple Uninhabited Aerial Vehicles

Enright

Savla

Bullo

2009

Journal of Guidance, Control, and Dynamics

Self Cite

View full text Add to dashboard Cite

show abstract

“…In the resource allocation problem, the targets are prescribed to be visited a predefined number of times. It is formulated as a modified traveling salesperson problem (Rathinam et al, 2007;Looker, 2008;Savla et al, 2008), often taking the limited turning radius of the mobile sensor into account. Unlike resource allocation, information-driven methods define the visitations of the targets according to some information reward.…”

Section: Target Trackingmentioning

confidence: 99%

Autonomous Aerial Ice Observation for Ice Defense

Haugen¹,

Imsland²

2014

MIC

View full text Add to dashboard Cite

One of the tasks in ice defense is to gather information about the surrounding ice environment using various sensor platforms. In this manuscript we identify two monitoring tasks known in literature, namely dynamic coverage and target tracking, and motivate how these tasks are relevant in ice defense using remotely piloted aircraft systems (RPASs). An optimization-based path planning concept is outlined for solving these tasks. A path planner for the target tracking problem is elaborated in more detail and a hybrid experiment, which consists of both a real fixed-wing aircraft and simulated objects, is included to show the applicability of the proposed framework.

show abstract

“…Recently, there has been an upswing in versions of DVR such as in [10] where different classes of demands have been considered; and in [11] which addresses the case of demand impatience. DVR problems addressing motion constraints on the vehicle have been presented in [12], while limited sensing range for the vehicle has been considered in [13].…”

Section: Related Workmentioning

confidence: 99%

Dynamic Vehicle Routing for Translating Demands: Stability Analysis and Receding-Horizon Policies

Bopardikar

Smith

Bullo

et al. 2010

IEEE Trans. Automat. Contr.

Self Cite

View full text Add to dashboard Cite

We introduce a problem in which demands arrive stochastically on a line segment, and upon arrival, move with a fixed velocity perpendicular to the segment. We design a receding horizon service policy for a vehicle with speed greater than that of the demands, based on the translational minimum Hamiltonian path (TMHP). We consider Poisson demand arrivals, uniformly distributed along the segment. For a fixed segment width and fixed vehicle speed, the problem is governed by two parameters; the demand speed and the arrival rate. We establish a necessary condition on the arrival rate in terms of the demand speed for the existence of any stabilizing policy. We derive a sufficient condition on the arrival rate in terms of the demand speed that ensures stability of the TMHP-based policy. When the demand speed tends to the vehicle speed, every stabilizing policy must service the demands in the first-come-first-served (FCFS) order; and the TMHP-based policy becomes equivalent to the FCFS policy which minimizes the expected time before a demand is serviced. When the demand speed tends to zero, the sufficient condition on the arrival rate for stability of the TMHP-based policy is within a constant factor of the necessary condition for stability of any policy.Finally, when the arrival rate tends to zero for a fixed demand speed, the TMHP-based policy becomes equivalent to the FCFS policy which minimizes the expected time before a demand is serviced. We numerically validate our analysis and empirically characterize the region in the parameter space for which the TMHP-based policy is stable.

show abstract

Traveling Salesperson Problems for the Dubins Vehicle

Cited by 214 publications

References 25 publications

Stochastic and Dynamic Routing Problems for Multiple Uninhabited Aerial Vehicles

Stochastic and Dynamic Routing Problems for Multiple Uninhabited Aerial Vehicles

Autonomous Aerial Ice Observation for Ice Defense

Dynamic Vehicle Routing for Translating Demands: Stability Analysis and Receding-Horizon Policies

Contact Info

Product

Resources

About