On Close Enough Orienteering Problem with Dubins Vehicle

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F17%3A00312672" target="_blank" >RIV/68407700:21230/17:00312672 - isvavai.cz</a>

Result on the web

<a href="http://dx.doi.org/10.1109/IROS.2017.8206453" target="_blank" >http://dx.doi.org/10.1109/IROS.2017.8206453</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/IROS.2017.8206453" target="_blank" >10.1109/IROS.2017.8206453</a>

Result language

angličtina

Original language name

On Close Enough Orienteering Problem with Dubins Vehicle

Original language description

In this paper, we address a generalization of the Orienteering Problem (OP) for curvature-constrained vehicles and to problems where it is allowed to collect a reward associated to each target location within a specified distance from the target. The addressed problem combines challenges of the combinatorial optimization of the OP (to select the most rewarding targets and find the optimal sequence to visit them) with the continuous optimization related to the determination of the waypoint locations and suitable headings at the waypoints for the considered Dubins vehicle such that the curvature-constrained path does not exceed the given travel budget and the sum of the collected rewards is maximized. The proposed generalization is called the Close Enough Dubins Orienteering Problem (CEDOP) and novel unsupervised learning approach is proposed to address computational requirements of this challenging planning problem. Based on the presented results, the proposed approach is feasible and provides a bit worse solution of CEDOP than the existing combinatorial approach but with significantly lower computational requirements.

Czech name

—

Czech description

—

Type

D - Article in proceedings

CEP classification

—

OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

<a href="/en/project/GA16-24206S" target="_blank" >GA16-24206S: Efficient Information Gathering with Dubins Vehicles in Persistent Monitoring and Surveillance Missions</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2017

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

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

ISBN

978-1-5386-2682-5

ISSN

2153-0858

e-ISSN

—

Number of pages

7

Pages from-to

5646-5652

Publisher name

IEEE

Place of publication

Piscataway

Event location

Vancouver

Event date

Sep 24, 2017

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

000426978205047