Download or read book Dynamic Vehicle Routing for Robotic Networks written by Marco Pavone (Ph. D.) and published by . This book was released on 2010 with total page 156 pages. Available in PDF, EPUB and Kindle. Book excerpt: Recent years have witnessed great advancements in the sciences and technology of autonomy, robotics and networking. This dissertation develops concepts and algorithms for dynamic vehicle routing (DVR), that is, for the automatic planning of optimal multi-vehicle routes to provide service to demands (or more generally to perform tasks) that are generated over time by an exogenous process. We consider a rich variety of scenarios relevant for robotic applications. We begin by reviewing some of the approaches available to tackle DVR problems. Next, we study different multi-vehicle scenarios based on different models for demands (in particular, demands with time constraints, demands with different priority levels, and demands that must be transported from a pick-up to a delivery location). The performance criterion used in these scenarios is either the expected waiting time of the demands or the fraction of demands serviced successfully. In each specific DVR scenario we adopt a rigorous technical approach, which we call algorithmic queueing theory and which relies upon methods from queueing theory, combinatorial optimization, and stochastic geometry. Algorithmic queueing theory consists of three basics steps: 1) queueing model of the DVR problem and analysis of its structure; 2) establishment of fundamental limitations on performance, independent of algorithms; and 3) design of algorithms that are either optimal or constant-factor away from optimal. In the second part of the dissertation, we address problems concerning the implementation of routing policies in large-scale robotic networks, such as adaptivity and decentralized computation. We first present distributed algorithms for environment partitioning, and then we apply them to devise routing policies for DVR problems that (i) are spatially distributed, scalable to large networks, and adaptive to network changes, and (ii) have remarkably good performance guarantees. The technical approach developed in this dissertation is applicable to a wide variety of DVR problems: several possible extensions are discussed throughout the thesis.
Download or read book Autonomous Driving written by Markus Maurer and published by Springer. This book was released on 2016-05-21 with total page 698 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book takes a look at fully automated, autonomous vehicles and discusses many open questions: How can autonomous vehicles be integrated into the current transportation system with diverse users and human drivers? Where do automated vehicles fall under current legal frameworks? What risks are associated with automation and how will society respond to these risks? How will the marketplace react to automated vehicles and what changes may be necessary for companies? Experts from Germany and the United States define key societal, engineering, and mobility issues related to the automation of vehicles. They discuss the decisions programmers of automated vehicles must make to enable vehicles to perceive their environment, interact with other road users, and choose actions that may have ethical consequences. The authors further identify expectations and concerns that will form the basis for individual and societal acceptance of autonomous driving. While the safety benefits of such vehicles are tremendous, the authors demonstrate that these benefits will only be achieved if vehicles have an appropriate safety concept at the heart of their design. Realizing the potential of automated vehicles to reorganize traffic and transform mobility of people and goods requires similar care in the design of vehicles and networks. By covering all of these topics, the book aims to provide a current, comprehensive, and scientifically sound treatment of the emerging field of “autonomous driving".
Download or read book Dynamic Fleet Management written by Vasileios S. Zeimpekis and published by Springer Science & Business Media. This book was released on 2007-10-05 with total page 249 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book focuses on real time management of distribution systems, integrating the latest results in system design, algorithm development and system implementation to capture the state-of-the art research and application trends. The book important topics such as goods dispatching, couriers, rescue and repair services, taxi cab services, and more. The book includes real-life case studies that describe the solution to actual distribution problems by combining systemic and algorithmic approaches.
Download or read book Approximate Dynamic Programming for Dynamic Vehicle Routing written by Marlin Wolf Ulmer and published by Springer. This book was released on 2017-04-19 with total page 209 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides a straightforward overview for every researcher interested in stochastic dynamic vehicle routing problems (SDVRPs). The book is written for both the applied researcher looking for suitable solution approaches for particular problems as well as for the theoretical researcher looking for effective and efficient methods of stochastic dynamic optimization and approximate dynamic programming (ADP). To this end, the book contains two parts. In the first part, the general methodology required for modeling and approaching SDVRPs is presented. It presents adapted and new, general anticipatory methods of ADP tailored to the needs of dynamic vehicle routing. Since stochastic dynamic optimization is often complex and may not always be intuitive on first glance, the author accompanies the ADP-methodology with illustrative examples from the field of SDVRPs. The second part of this book then depicts the application of the theory to a specific SDVRP. The process starts from the real-world application. The author describes a SDVRP with stochastic customer requests often addressed in the literature, and then shows in detail how this problem can be modeled as a Markov decision process and presents several anticipatory solution approaches based on ADP. In an extensive computational study, he shows the advantages of the presented approaches compared to conventional heuristics. To allow deep insights in the functionality of ADP, he presents a comprehensive analysis of the ADP approaches.
Download or read book The Evolution of the Vehicle Routing Problem written by Bruce Golden and published by Springer Nature. This book was released on 2023-01-01 with total page 73 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents state-of-the-art research and practice in optimization routing, specifically the vehicle routing problem (VRP). Since its introduction in the late 1950s, the VRP has been a very significant area of research and practice in operations research. Vehicles are used to make deliveries and for pick-ups every day and everywhere. Companies such as Amazon, UPS, FedEx, and DHL use route optimization to reduce mileage, fuel use, number of trucks on the road, and carbon dioxide emissions. The authors compile and analyze 135 survey and review articles on vehicle routing topics published between 2005 and 2022 in an effort to make key observations about publication and trend history, summarize the overall contributions in the field, and identify trends in VRP research and practice. The authors have compiled published research on models, algorithms, and applications for specific areas, including: alternative and multiple objectives; arc routing and general routing; drones, last-mile delivery, and urban distribution; dynamic and stochastic routing; green routing; inventory routing; loading constraints; location-routing; multiple depots; pickup and delivery and dial-a-ride problems; rich and multi-attribute routing; routing over time; shipping; two-echelon, collaborative, and inter-terminal problems; specific variants, benchmark datasets, and software; and exact algorithms and heuristics. In addition, the book discusses how vehicle routing problems are among the most widely studied problems in combinatorial optimization due to the mathematical complexity and practical significance.
Download or read book Vehicle Routing written by Paolo Toth and published by SIAM. This book was released on 2014-12-05 with total page 467 pages. Available in PDF, EPUB and Kindle. Book excerpt: Vehicle routing problems, among the most studied in combinatorial optimization, arise in many practical contexts (freight distribution and collection, transportation, garbage collection, newspaper delivery, etc.). Operations researchers have made significant developments in the algorithms for their solution, and Vehicle Routing: Problems, Methods, and Applications, Second Edition reflects these advances. The text of the new edition is either completely new or significantly revised and provides extensive and complete state-of-the-art coverage of vehicle routing by those who have done most of the innovative research in the area; it emphasizes methodology related to specific classes of vehicle routing problems and, since vehicle routing is used as a benchmark for all new solution techniques, contains a complete overview of current solutions to combinatorial optimization problems. It also includes several chapters on important and emerging applications, such as disaster relief and green vehicle routing.
Download or read book Distributed Control of Robotic Networks written by Francesco Bullo and published by Princeton University Press. This book was released on 2009-07-06 with total page 320 pages. Available in PDF, EPUB and Kindle. Book excerpt: This self-contained introduction to the distributed control of robotic networks offers a distinctive blend of computer science and control theory. The book presents a broad set of tools for understanding coordination algorithms, determining their correctness, and assessing their complexity; and it analyzes various cooperative strategies for tasks such as consensus, rendezvous, connectivity maintenance, deployment, and boundary estimation. The unifying theme is a formal model for robotic networks that explicitly incorporates their communication, sensing, control, and processing capabilities--a model that in turn leads to a common formal language to describe and analyze coordination algorithms. Written for first- and second-year graduate students in control and robotics, the book will also be useful to researchers in control theory, robotics, distributed algorithms, and automata theory. The book provides explanations of the basic concepts and main results, as well as numerous examples and exercises. Self-contained exposition of graph-theoretic concepts, distributed algorithms, and complexity measures for processor networks with fixed interconnection topology and for robotic networks with position-dependent interconnection topology Detailed treatment of averaging and consensus algorithms interpreted as linear iterations on synchronous networks Introduction of geometric notions such as partitions, proximity graphs, and multicenter functions Detailed treatment of motion coordination algorithms for deployment, rendezvous, connectivity maintenance, and boundary estimation
Download or read book Strategic Dynamic Vehicle Routing with Spatio temporal Dependent Demands written by Diego Francisco Feijer Rovira Feijer and published by . This book was released on 2011 with total page 53 pages. Available in PDF, EPUB and Kindle. Book excerpt: Dynamic vehicle routing problems address the issue of determining optimal routes for a set of vehicles, to serve a given set of demands that arrive sequentially in time. Traditionally, demands are assumed to be generated over time by an exogenous stochastic process. This thesis is concerned with the study of dynamic vehicle routing problems where demands are strategically placed in the space by an agent with selfish interests and physical constraints. In particular, we focus on the following problem: a team of vehicles seek to device dynamic routing policies that minimize the average waiting time of a typical demand, from the moment it is placed in the space until its location is visited; while an adversarial agent operating from a central depot with limited capacity aims at the opposite, strategically choosing the spatio-temporal point process according to which place demands. We model the above problem and its inherent pure conflict of interests as a zero-sum game, and characterize equilibria under heavy load regime. For the analysis we discriminate between two cases: bounded and unbounded domains. In both cases we show that a routing policy based on performing successive TSP tours through outstanding demands and a power-law spatial distribution of demands are optimal, saddle point of the utility function of the game. The latter emerges as the unique solution of maximizing a non-convex nowhere differentiable functional over the infinite-dimensional space of probability densities; the non-convexity is the result of the spatio-temporal dependence induced by the physical constraints imposed on the behavior of the agent, and the non-differentiability is due to the emptiness of the interior of the positive cone of integrable functions. We solve this problem applying Fenchel conjugate duality for partially finite programming in the case of bounded domains; and a direct duality approach exploiting the structure of a concave integral functional part of the objective and the linear equality constraints, for unbounded domains. Remarkably, all the results obtained hold for any domain with a sufficiently smooth boundary, clossedness or connectedness is not needed. We provide numerical simulations to validate the theory.
Download or read book Dynamic Vehicle Routing Problem written by Maxwell Wallace and published by . This book was released on 2007 with total page 876 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Mathematics of Complexity and Dynamical Systems written by Robert A. Meyers and published by Springer Science & Business Media. This book was released on 2011-10-05 with total page 1885 pages. Available in PDF, EPUB and Kindle. Book excerpt: Mathematics of Complexity and Dynamical Systems is an authoritative reference to the basic tools and concepts of complexity, systems theory, and dynamical systems from the perspective of pure and applied mathematics. Complex systems are systems that comprise many interacting parts with the ability to generate a new quality of collective behavior through self-organization, e.g. the spontaneous formation of temporal, spatial or functional structures. These systems are often characterized by extreme sensitivity to initial conditions as well as emergent behavior that are not readily predictable or even completely deterministic. The more than 100 entries in this wide-ranging, single source work provide a comprehensive explication of the theory and applications of mathematical complexity, covering ergodic theory, fractals and multifractals, dynamical systems, perturbation theory, solitons, systems and control theory, and related topics. Mathematics of Complexity and Dynamical Systems is an essential reference for all those interested in mathematical complexity, from undergraduate and graduate students up through professional researchers.
Download or read book Over 40 Publications Studies Combined UAS UAV Drone Swarm Technology Research written by and published by Jeffrey Frank Jones. This book was released on with total page 3840 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Distributed Autonomous Robotic Systems written by Nak-Young Chong and published by Springer. This book was released on 2016-01-14 with total page 475 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume of proceedings includes 32 original contributions presented at the 12th International Symposium on Distributed Autonomous Robotic Systems (DARS 2014), held in November 2014. The selected papers in this volume are authored by leading researchers from Asia, Australia, Europe, and the Americas, thereby providing a broad coverage and perspective of the state-of-the-art technologies, algorithms, system architectures, and applications in distributed robotic systems.
Download or read book Optimized Dynamic Vehicle Routing Policies with Applications written by Yingwei Lin and published by . This book was released on 2012 with total page 252 pages. Available in PDF, EPUB and Kindle. Book excerpt: Abstract: This dissertation addresses two applications: (a) optimizing dynamic vehicle routing policies in warehouse forklift dispatching, and (b) reward collection by a group of air vehicles in a 3-dimensional mission space. For the first application, we successfully deployed an inexpensive mobile Wireless Sensor Network in a commercial warehouse served by a fleet of forklifts, aiming at improving forklift dispatching and reducing costs associated with the delays of loading/unloading delivery trucks. The forklifts were instrumented with sensor nodes that collect an array of information, including the forklifts' physical location, usage time, bumping/collision history, and battery status in an event-driven manner. A hypothesis testing algorithm was implemented to capture the location information. Combined with inventory information, the acquired information was fed into an Actor-Critic type stochastic optimization method to generate dispatching decisions. For the second application, we considered an application where mobile vehicles (agents) fly in a forest with obstacles. They "chase" potentially moving targets that carry rewards, which the agents wish to collect by approaching the targets. We cast the problem into a Markov Decision Process framework. In order to seek an optimal policy that maximizes the long-term average reward collection, and to conquer the curse of dimensionality, we propose an approximate dynamic programming algorithm termed Distributed Actor-Critic Algorithm. Motivated by the way animals move while hunting for food, we incorporated several bio-inspired features into our control policy structure. Simulation results demonstrate that the policies with these bio-inspired features lead to a higher reward collection rate compared to the non-bio-inspired counterparts; by 40% in some examples. We also considered a setting where targets have intelligence and try to move away from agents in order to minimize the reward being collected. The problem is formulated as a Pursuit Evasion Game. Assuming that the targets also use an Actor-Critic method to optimize their control policy, we have shown that the game converges to a Local Nash Equilibrium. Furthermore, we proposed an Actor-Critic with Simulated Annealing (ACSA) algorithm, and established that the game converges to a Nash Equilibrium. Simulation results show that the ACSA algorithm can achieve a higher reward collection rate for both stationary and moving targets.
Download or read book The Dynamic Vehicle Routing Problem written by Allan Larsen and published by . This book was released on 2000 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book A Review of Dynamic Vehicle Routing Problems written by and published by . This book was released on 2011 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Solving Dynamic Vehicle Routing Problems written by Mostepha Redouane Khouadjia and published by . This book was released on 2011 with total page 186 pages. Available in PDF, EPUB and Kindle. Book excerpt: Many problems in the real world have dynamic nature and can be modeled as dynamic combinatorial optimization problems. However, research on dynamic optimization focuses on continuous optimization problems, and rarely targets combinatorial problems. One of the applications in dynamic combinatorial problems that has received a growing interest during the last decades is the on-line or dynamic transportation systems. A typical problem of this domain is the Dynamic Vehicle Routing Problems (DVRPs). In this latter, the dynamism can be attributed to several factors (weather condition, new customer order, cancellation of old demand, vehicle broken down, etc.). In such application, information on the problem is not completely known a priori, but instead is revealed to the decision maker progressively with time. Consequently, solutions for different instances have to be found as time proceeds, concurrently with managing the incoming information. Such problems call for a methodology to track their optimal solutions through time. In this thesis, dynamic vehicle routing problem is addressed and developing general methodologies called metaheuristics to tackle this problem is investigated. Their ability to adapt to the changing environment and their robustness are discussed. Results of experiments demonstrate thanks to dynamic performance measures that our methods are effective on this problem and hence have a great potential for other dynamic combinatorial problems.
Download or read book Robotic Systems Concepts Methodologies Tools and Applications written by Management Association, Information Resources and published by IGI Global. This book was released on 2020-01-03 with total page 2075 pages. Available in PDF, EPUB and Kindle. Book excerpt: Through expanded intelligence, the use of robotics has fundamentally transformed a variety of fields, including manufacturing, aerospace, medicine, social services, and agriculture. Continued research on robotic design is critical to solving various dynamic obstacles individuals, enterprises, and humanity at large face on a daily basis. Robotic Systems: Concepts, Methodologies, Tools, and Applications is a vital reference source that delves into the current issues, methodologies, and trends relating to advanced robotic technology in the modern world. Highlighting a range of topics such as mechatronics, cybernetics, and human-computer interaction, this multi-volume book is ideally designed for robotics engineers, mechanical engineers, robotics technicians, operators, software engineers, designers, programmers, industry professionals, researchers, students, academicians, and computer practitioners seeking current research on developing innovative ideas for intelligent and autonomous robotics systems.
