Optimal Solution of the Generalized Dubins Interval Problem
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F18%3A00328398" target="_blank" >RIV/68407700:21230/18:00328398 - isvavai.cz</a>
Result on the web
<a href="http://www.roboticsproceedings.org/rss14/p35.pdf" target="_blank" >http://www.roboticsproceedings.org/rss14/p35.pdf</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.15607/RSS.2018.XIV.035" target="_blank" >10.15607/RSS.2018.XIV.035</a>
Alternative languages
Result language
angličtina
Original language name
Optimal Solution of the Generalized Dubins Interval Problem
Original language description
The problem addressed in this paper is motivated by surveillance mission planning with curvature-constrained trajectories for Dubins vehicles that can be formulated as the Dubins Traveling Salesman Problem with Neighborhoods (DTSPN). We aim to provide a tight lower bound of the DTSPN, especially for the cases where the sequence of visits to the given regions is available. A problem to find the shortest Dubins path connecting two regions with prescribed intervals for possible departure and arrival heading angles of the vehicle is introduced. This new problem is called the Generalized Dubins Interval Problem (GDIP) and its optimal solution is addressed. Based on the solution of the GDIP, a tight lower bound of the above mentioned DTSPN is provided which is used to steer sampling-based algorithm to determine a feasible solution that is close to the optimum
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
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)
Others
Publication year
2018
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of the Robotics and Systems
ISBN
978-0-9923747-4-7
ISSN
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e-ISSN
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Number of pages
10
Pages from-to
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Publisher name
Carnegie Melon University, Robotic Institute
Place of publication
Pensylvánie
Event location
Pittsburgh
Event date
Jun 26, 2018
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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