Landmark Guided Probabilistic Roadmap Queries

A landmark based heuristic is investigated for reducing query phase run-time of the probabilistic roadmap (\PRM) motion planning method. The heuristic is generated by storing minimum spanning trees from a small number of vertices within the \PRM graph and using these trees to approximate the cost of a shortest path between any two vertices of the graph. The intermediate step of preprocessing the graph increases the time and memory requirements of the classical motion planning technique in exchange for speeding up individual queries making the method advantageous in multi-query applications. This paper investigates these trade-offs on \PRM graphs constructed in randomized environments as well as a practical manipulator simulation.We conclude that the method is preferable to Dijkstra's algorithm or the ${\rm A}^*$ algorithm with conventional heuristics in multi-query applications.Comment: 7 Page

Convexity and Robustness of Dynamic Traffic Assignment and Freeway Network Control

We study the use of the System Optimum (SO) Dynamic Traffic Assignment (DTA) problem to design optimal traffic flow controls for freeway networks as modeled by the Cell Transmission Model, using variable speed limit, ramp metering, and routing. We consider two optimal control problems: the DTA problem, where turning ratios are part of the control inputs, and the Freeway Network Control (FNC), where turning ratios are instead assigned exogenous parameters. It is known that relaxation of the supply and demand constraints in the cell-based formulations of the DTA problem results in a linear program. However, solutions to the relaxed problem can be infeasible with respect to traffic dynamics. Previous work has shown that such solutions can be made feasible by proper choice of ramp metering and variable speed limit control for specific traffic networks. We extend this procedure to arbitrary networks and provide insight into the structure and robustness of the proposed optimal controllers. For a network consisting only of ordinary, merge, and diverge junctions, where the cells have linear demand functions and affine supply functions with identical slopes, and the cost is the total traffic volume, we show, using the maximum principle, that variable speed limits are not needed in order to achieve optimality in the FNC problem, and ramp metering is sufficient. We also prove bounds on perturbation of the controlled system trajectory in terms of perturbations in initial traffic volume and exogenous inflows. These bounds, which leverage monotonicity properties of the controlled trajectory, are shown to be in close agreement with numerical simulation results

A Branch-Price-and-Cut Algorithm for the Capacitated Multiple Vehicle Traveling Purchaser Problem with Unitary Demand

The multiple vehicle traveling purchaser problem (MVTPP) consists of simultaneously selecting suppliers and routing a fleet of homogeneous vehicles to purchase different products at the selected suppliers so that all product demands are fulfilled and traveling and purchasing costs are minimized. We consider variants of the MVTPP in which the capacity of the vehicles can become binding and the demand for each product is one unit. Corresponding solution algorithms from the literature are either branch-and-cut or branch-and-price algorithms, where in the latter case the route-generation subproblem is solved on an expanded graph by applying standard dynamic-programming techniques. Our branch-price-and-cut algorithm employs a novel labeling algorithm that works directly on the original network and postpones the purchasing decisions until the route has been completely defined. Moreover, we define a new branching rule generally applicable in case of unitary product demands, introduce a new family of valid inequalities to apply when suppliers can be visited at most once, and show how product incompatibilities can be handled without considering additional resources in the pricing problem. In comprehensive computational experiments with standard benchmark sets we prove that the new branch-price-and-cut approach is highly competitive

Bicriterion a priori route choice in stochastic time-dependent networks.

In recent years there has been a growing interest in using stochastic time-dependent (STD) networks as a modelling tool for a number of applications within such areas as transportation and telecommunications. It is known that an optimal routing policy does not necessarily correspond to a path, but rather to a time-adaptive strategy. In some applications, however, it makes good sense to require that the routing policy corresponds to a loopless path in the network, that is, the time-adaptive aspect disappears and a priori route choice is considered. In this paper we consider bicriterion a priori route choice in STD networks, i.e. the problem of finding the set of efficient paths. Both expectation and min-max criteria are considered and a solution method based on the two-phase approach is devised. Experimental results reveal that the full set of efficient solutions can be determined on rather large test instances, which is in contrast to previously reported results for the time-adaptive caseStochastic time-dependent networks; Bicriterion shortest path; A priori route choice; Two-phase method

The school bus routing problem: An analysis and algorithm

In this paper we analyse a flexible real world-based model for designing school bus transit systems and note a number of parallels between this and other well-known combinatorial optimisation problems including the vehicle routing problem, the set covering problem, and one-dimensional bin packing. We then describe an iterated local search algorithm for this problem and demonstrate the sort of solutions that we can expect with different types of problem instance

Debris removal during disaster response: A case for Turkey

Debris occurs from the ruin and wreckage of structures during a disaster. Proper removal of debris is of great importance because it blocks roads and prohibits emergency aid teams from accessing disaster affected regions. Poor disaster management, lack of efficiency and delays in debris removal cause disruptions in providing shelter, nutrition, healthcare and communication services to disaster victims, and more importantly, result in loss of lives. Due to the importance of systematic and efficient debris removal from the perspectives of improving disaster victims quality of life and allowing the transportation of emergency relief materials, the focus of this study is on providing emergency relief supplies to disaster affected regions as soon as possible by unblocking roads through removing the accumulated debris. We develop a mathematical model for the problem that requires long CPU times for large instances. Since it is crucial to act quickly in an emergency case, we also propose a heuristic methodology that solves instances with an average gap of 1% and optimum ratio of 80.83%