This paper deals with dynamic Multi-Vehicle Routing Problem in both deterministic and stochastic scenarios; the objective is to find the best paths for a fleet of vehicles, with the aim of visiting a set of targets. Based on the Cooperative Receding Horizon approach proposed in [4] for the Euclidean case, this paper i) develop a routing algorithm for graph-represented mission spaces, ii) presents a switching algorithm, which is able to dynamically change the vehicle behaviour according to the time-variable configuration of both vehicles and targets, as well as to handle the discovery of unknown targets. Simulations show the algorithm effectiveness.
Receding Horizon Multi-Vehicle Routing for Emergency Scenarios / Chini, G.; Poli, C.; Oddi, G.; Pietrabissa, A.; Grigioni, M.. - STAMPA. - (2014), pp. 374-379. (Intervento presentato al convegno 22nd Mediterranean Conference of Control and Automation (MED), 2014 tenutosi a Palermo; Italy) [10.1109/MED.2014.6961400].
Receding Horizon Multi-Vehicle Routing for Emergency Scenarios
G. Oddi;A. Pietrabissa
;
2014
Abstract
This paper deals with dynamic Multi-Vehicle Routing Problem in both deterministic and stochastic scenarios; the objective is to find the best paths for a fleet of vehicles, with the aim of visiting a set of targets. Based on the Cooperative Receding Horizon approach proposed in [4] for the Euclidean case, this paper i) develop a routing algorithm for graph-represented mission spaces, ii) presents a switching algorithm, which is able to dynamically change the vehicle behaviour according to the time-variable configuration of both vehicles and targets, as well as to handle the discovery of unknown targets. Simulations show the algorithm effectiveness.File | Dimensione | Formato | |
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