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Carnegie Mellon Robotics Institute

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Abstract

To realize the vision of intelligent transportation systems with fully automated vehicles, there is a need for high-level planning for single vehicles as well as fleets of vehicles. This paper addresses the problem of optimally assigning and scheduling a set of spatially distributed tasks to a fleet of vehicles working together to achieve a high-level goal, in domains where tasks may be related by precedence or synchronization constraints and might have a choice of locations at which they can be performed. Such problems may arise, for example, in disaster preparedness planning, transportation of people, and delivery of supplies. We present a novel mathematical model of the problem and describe how it can be solved optimally in a branch-and-price framework.

Keywords

Task allocation, optimal planning, branch-and-price

Notes

Associated Center(s) / Consortia: Field Robotics Center

Associated Lab(s) / Group(s): rCommerce

Associated Project(s): Coordination for Disaster Response

Text Reference

G. Ayorkor Korsah, Anthony (Tony) Stentz, M Bernardine Dias, and Imran Aslam Fanaswala, "Optimal Vehicle Routing and Scheduling with Precedence Constraints and Location Choice," IEEE International Conference on Robotics and Automation (ICRA) 2010 Workshop on Intelligent Autonomous Systems, May, 2010.

BibTeX Reference

@inproceedings{Korsah_2010_6778,
   author = "G. Ayorkor Korsah and Anthony (Tony) Stentz and M Bernardine Dias and Imran Aslam Fanaswala",
   title = "Optimal Vehicle Routing and Scheduling with Precedence Constraints and Location Choice",
   booktitle = "IEEE International Conference on Robotics and Automation (ICRA) 2010 Workshop on Intelligent Autonomous Systems",
   month = "May",
   year = "2010",
}

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