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Multi Vehicle Routing with Nonholonomic Constraints and Dense Dynamic Obstacles
Örebro University, School of Science and Technology. (AASS)
Örebro University, School of Science and Technology. (AASS)ORCID iD: 0000-0002-8631-7863
Örebro University, School of Science and Technology. (AASS)ORCID iD: 0000-0002-9652-7864
2017 (English)In: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Institute of Electrical and Electronics Engineers (IEEE), 2017, p. 3522-3529Conference paper, Published paper (Refereed)
Abstract [en]

We introduce a variant of the multi-vehicle routing problem which accounts for nonholonomic constraints and dense, dynamic obstacles, called MVRP-DDO. The problem is strongly motivated by an industrial mining application. This paper illustrates how MVRP-DDO relates to other extensions of the vehicle routing problem. We provide an application-independent formulation of MVRP-DDO, as well as a concrete instantiation in a surface mining application. We propose a multi-abstraction search approach to compute an executable plan for the drilling operations of several machines in a very constrained environment. The approach is evaluated in terms of makespan and computation time, both of which are hard industrial requirements.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2017. p. 3522-3529
Series
Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems, ISSN 2153-0858, E-ISSN 2153-0866
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-63515DOI: 10.1109/IROS.2017.8206195ISI: 000426978203076Scopus ID: 2-s2.0-85041951034ISBN: 978-1-5386-2682-5 (electronic)ISBN: 978-1-5386-2683-2 (print)OAI: oai:DiVA.org:oru-63515DiVA, id: diva2:1168586
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS 2017), Vancouver, BC, Canada, September 24-28, 2017
Projects
Semantic Robots
Funder
Knowledge Foundation, 20140033
Note

Funding Agency:

Atlas Copco Rock Drills AB

Available from: 2017-12-21 Created: 2017-12-21 Last updated: 2018-04-09Bibliographically approved

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Multi Vehicle Routing with Nonholonomic Constraints and Dense Dynamic Obstacles(1718 kB)79 downloads
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Mansouri, MasoumehLagriffoul, FabienPecora, Federico
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