Discrete Path Planing Strategies for Coverage and Multi-Robot Rendezvous

This thesis addresses the problem of motion planning for autonomous robots, given a map and an estimate of the robot pose within it. The motion planning problem for a mobile robot can be defined as computing a trajectory in an environment from one pose to another while avoiding obstacles and optimizing some objective such as path length or travel time, subject to constraints like vehicle dynamics limitations. More complex planning problems such as multi-robot planning or complete coverage of an area can also be defined within a similar optimization structure. The computational complexity of path planning presents a considerable challenge for real-time execution with limited resources and various methods of simplifying the problem formulation by discretizing the solution space are grouped under the class of discrete planning methods. The approach suggests representing the environment as a roadmap graph and formulating shortest path problems to compute optimal robot trajectories on it. This thesis presents two main contributions under the framework of discrete planning. The first contribution addresses complete coverage of an unknown environment by a single omnidirectional ground rover. The 2D occupancy grid map of the environment is first converted into a polygonal representation and decomposed into a set of convex sectors. Second, a coverage path is computed through the sectors using a hierarchical inter-sector and intra-sector optimization structure. It should be noted that both convex decomposition and optimal sector ordering are known NP-hard problems, which are solved using a greedy cut approximation algorithm and Travelling Salesman Problem (TSP) heuristics, respectively. The second contribution presents multi-robot path-planning strategies for recharging autonomous robots performing a persistent task. The work considers the case of surveillance missions performed by a team of Unmanned Aerial Vehicles (UAVs). The goal is to plan minimum cost paths for a separate team of dedicated charging robots such that they rendezvous with and recharge all the UAVs as needed. To this end, planar UAV trajectories are discretized into sets of charging locations and a partitioned directed acyclic graph subject to timing constraints is defined over them. Solutions consist of paths through the graph for each of the charging robots. The rendezvous planning problem for a single recharge cycle is formulated as a Mixed Integer Linear Program (MILP), and an algorithmic approach, using a transformation to the TSP, is presented as a scalable heuristic alternative to the MILP. The solution is then extended to longer planning horizons using both a receding horizon and an optimal fixed horizon strategy. Simulation results are presented for both contributions, which demonstrate solution quality and performance of the presented algorithms

Analysis of the characteristics and applications of vehicle routing systems

El ruteo de vehículos, permite establecer una estrategia para realizar la distribución adecuada de las mercancías, en los diferentes puntos en los cuales lo desee una organización. Esto se logra, a través del diseño de rutas para una flota de vehículos determinada; ya sea homogénea o heterogénea. El estudio de este problema de ruteo, como ha sido considerado, se ha clasificado en diferentes sistemas, de acuerdo a las condiciones del entorno en el cual se desean aplicar. Sin embargo, no todas las tipologías son conocidas a cabalidad por las organizaciones o investigadores, debido a su reciente desarrollo o su poco nivel de aplicación. Es por ello, que en la presente investigación, se plantea realizar un análisis de las características y aplicaciones de los tipos de sistemas de ruteo de vehículos, a través de una revisión bibliográfica de trabajos previos, con el propósito de brindar información sólida y concisa a futuros investigadores. La metodología empleada, conlleva principalmente a una investigación de tipo cualitativa, en la cual se realizó una búsqueda sistemática en bases de datos del problema planteado de los últimos cinco años. A partir de esto, fue posible establecer que durante este período de tiempo, las publicaciones en este campo, presentaron un incremento de aproximadamente el doble, evidenciando el aumento en el interés por el tema objetivo.The vehicle routing allows to establish a strategy for the proper distribution of goods in different points at which you want an organization. This is achieved through the design of routes to a particular fleet vehicle; either homogeneous or heterogeneous. Studying this routing problem, as has been seen, has been classified into different systems, according to the environmental conditions in which is applied. However, not all types are known at all by the organizations or researchers, due to its recent development or some application level. That is why, in this research, we propose an analysis of the characteristics and applications of the types of systems vehicle routing through a literature review of previous works, in order to provide solid and concise information to future researchers. The methodology used primarily involves qualitative research type, in which a systematic search was performed in databases of the problem of the past five years. From this, it was possible to establish that during this period, the publications in this field, showed an increase of about twice, showing increased interest in the subject target

Discrete Path Planing Strategies for Coverage and Multi-Robot Rendezvous

This thesis addresses the problem of motion planning for autonomous robots, given a map and an estimate of the robot pose within it. The motion planning problem for a mobile robot can be defined as computing a trajectory in an environment from one pose to another while avoiding obstacles and optimizing some objective such as path length or travel time, subject to constraints like vehicle dynamics limitations. More complex planning problems such as multi-robot planning or complete coverage of an area can also be defined within a similar optimization structure. The computational complexity of path planning presents a considerable challenge for real-time execution with limited resources and various methods of simplifying the problem formulation by discretizing the solution space are grouped under the class of discrete planning methods. The approach suggests representing the environment as a roadmap graph and formulating shortest path problems to compute optimal robot trajectories on it. This thesis presents two main contributions under the framework of discrete planning. The first contribution addresses complete coverage of an unknown environment by a single omnidirectional ground rover. The 2D occupancy grid map of the environment is first converted into a polygonal representation and decomposed into a set of convex sectors. Second, a coverage path is computed through the sectors using a hierarchical inter-sector and intra-sector optimization structure. It should be noted that both convex decomposition and optimal sector ordering are known NP-hard problems, which are solved using a greedy cut approximation algorithm and Travelling Salesman Problem (TSP) heuristics, respectively. The second contribution presents multi-robot path-planning strategies for recharging autonomous robots performing a persistent task. The work considers the case of surveillance missions performed by a team of Unmanned Aerial Vehicles (UAVs). The goal is to plan minimum cost paths for a separate team of dedicated charging robots such that they rendezvous with and recharge all the UAVs as needed. To this end, planar UAV trajectories are discretized into sets of charging locations and a partitioned directed acyclic graph subject to timing constraints is defined over them. Solutions consist of paths through the graph for each of the charging robots. The rendezvous planning problem for a single recharge cycle is formulated as a Mixed Integer Linear Program (MILP), and an algorithmic approach, using a transformation to the TSP, is presented as a scalable heuristic alternative to the MILP. The solution is then extended to longer planning horizons using both a receding horizon and an optimal fixed horizon strategy. Simulation results are presented for both contributions, which demonstrate solution quality and performance of the presented algorithms

A Heuristic Method for Task Selection in Persistent ISR Missions Using Autonomous Unmanned Aerial Vehicles

The Persistent Intelligence, Surveillance, and Reconnaissance (PISR) problem seeks to provide timely collection and delivery of data from prioritized ISR tasks using an autonomous Unmanned Aerial Vehicle (UAV). In the literature, PISR is classified as a type of Vehicle Routing Problem (VRP), often called by other names such as persistent monitoring, persistent surveillance, and patrolling. The objective of PISR is to minimize the weighted revisit time to each task (called weighted latency) using an optimal task selection algorithm. In this research, we utilize the average weighted latency as our performance metric and investigate a method for task selection called the Maximal Distance Discounted and Weighted Revisit Period (MD2WRP) utility function. The MD2WRP function is a heuristic method of task selection that uses n+1 parameters, where n is the number of PISR tasks. We develop a two-step optimization method for the MD2WRP parameters to deliver optimal latency performance for any given task configuration, which accommodates both single and multi-vehicle scenarios. To validate our optimization method, we compare the performance of MD2WRP to common Traveling Salesman Problem (TSP) methods for PISR using different task configurations. We find that the optimized MD2WRP function is competitive with the TSP methods, and that MD2WRP often results in steady-state task visit sequences that are equivalent to the TSP solution for a single vehicle. We also compare MD2WRP to other utility methods from the literature, finding thatMD2WRP performs on par with or better than these other methods even when optimizing only one of its n + 1 parameters. To address real-world operational factors, we test MD2WRP with Dubins constraints, no-y zones in the operational area, return-to-base requirements, and the addition and removal of vehicles and tasks mid-mission. For each operational factor, we demonstrate its effect on PISR task selections using MD2WRP and how MD2WRP needs to be modified, if at all, to compensate. Finally, we make practical suggestions about implementing MD2WRP for flight testing, outline potential areas for future study, and offer recommendations about the conduct of PISR missions in general

Engineering technology for networks

Space Network (SN) modeling and evaluation are presented. The following tasks are included: Network Modeling (developing measures and metrics for SN, modeling of the Network Control Center (NCC), using knowledge acquired from the NCC to model the SNC, and modeling the SN); and Space Network Resource scheduling

Service Consistency in Vehicle Routing

This thesis studies service consistency in the context of multi-period vehicle routing problems (VRP) in which customers require repeatable services over a planning horizon of multiple days. Two types of service consistency are considered, namely, driver consistency and time consistency. Driver consistency refers to using the fewest number of different drivers to perform all of the visits required by a customer over a planning horizon and time consistency refers to visiting a customer at roughly the same time on each day he/she needs service. First, the multi-objective consistent VRP is defined to explore the trade-offs between the objectives of travel cost minimization and service consistency maximization. An improved multi-objective optimization algorithm is proposed and the impact of improving service consistency on travel cost is evaluated on various benchmark instances taken from the literature to facilitate managerial decision making. Second, service consistency is introduced for the first time in the literature to the periodic vehicle routing problem (PVRP). In the PVRP, customers may require multiple visits over a planning horizon, and these visits must occur according to an allowable service pattern. A service pattern specifies the days on which the visits required by a customer are allowed to occur. A feasible service pattern must be determined for each customer before vehicle routes can be optimized on each day. Various multi-objective optimization approaches are implemented to evaluate their comparative competitiveness in solving this problem and to evaluate the impact of improving service consistency on the total travel cost. Third, a branch-and-price algorithm is developed to solve the consistent vehicle routing problem in which service consistency is enforced as a hard constraint. In this problem, the objective is to minimize the total travel cost. New constraints are devised to enhance the original mixed integer formulation of the problem. The improved formulation outperforms the original formulation regarding CPLEX solution times on all benchmark instances taken from the literature. The proposed branch-and-price algorithm is shown to be able to solve instances with more than fourteen customers more efficiently than either the existing mixed integer formulation or the one we propose in this paper

A Hybrid Jump Search and Tabu Search Metaheuristic for the Unmanned Aerial Vehicle (UAV) Routing Problem

In this research, we provide a new meta-heuristic, a jump search I tabu search hybrid, for addressing the vehicle routing problem with real-life constraints. A tour construction heuristic creates candidate solutions or jump points for the problem. A tabu search algorithm uses these jump points as starting points for a guided local search. We provide statistical analysis on the performance of our algorithm and compare it to other published algorithms. Our algorithm provides solutions within 10% of the best known solutions to benchmark problems and does so in a fraction of the time required by competing algorithms. The timeliness of the solution is vitally import to the unmanned aerial vehicle (UAV) routing problem. UAVs provide the lion\u27s share of reconnaissance support for the US military. This reconnaissance mission requires the UAVs to visit hundreds of target areas in a rapidly changing combat environment. Air vehicle operators (AVOs) must prepare a viable mission plan for the UAVs while contending with such real-life constraints as time windows, target priorities, multiple depots, heterogeneous vehicle fleet, and pop-up threats. Our algorithm provides the AVOs with the tools to perform their mission quickly and efficiently

Fully automated urban traffic system

The replacement of the driver with an automatic system which could perform the functions of guiding and routing a vehicle with a human's capability of responding to changing traffic demands was discussed. The problem was divided into four technological areas; guidance, routing, computing, and communications. It was determined that the latter three areas being developed independent of any need for fully automated urban traffic. A guidance system that would meet system requirements was not being developed but was technically feasible