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Decentralized Dynamic Multi-Vehicle Routing via Fast Marching Method
KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, perception and learning, RPL.
KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, perception and learning, RPL.ORCID iD: 0000-0003-4173-2593
2018 (English)In: 2018 European Control Conference, ECC 2018, Institute of Electrical and Electronics Engineers (IEEE), 2018, p. 739-745, article id 8550222Conference paper, Published paper (Refereed)
Abstract [en]

While centralized approaches to multi-vehicle routing problems typically provide provably optimal solutions, they do not scale well. In this paper, an algorithm for decentralized multi-vehicle routing is introduced that is often associated with significantly lower computational demands, but does not sacrifice the optimality of the found solution. In particular, we consider a fleet of autonomous vehicles traversing a road network that need to service a potentially infinite set of gradually appearing travel requests specified by their pick-up and drop-off points. The proposed algorithm synthesizes optimal assignment of the travel requests to the vehicles as well as optimal routes by utilizing Fast Marching Method (FMM) that restricts the search for the optimal assignment to a local subnetwork as opposed to the global road network. Several illustrative case studies are presented to demonstrate the effectiveness and efficiency of the approach.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2018. p. 739-745, article id 8550222
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-241391DOI: 10.23919/ECC.2018.8550222Scopus ID: 2-s2.0-85059822667ISBN: 9783952426982 (print)OAI: oai:DiVA.org:kth-241391DiVA, id: diva2:1281087
Conference
16th European Control Conference, ECC 2018, Limassol, Cyprus, 12 June 2018 through 15 June 2018
Note

QC 20190121

Available from: 2019-01-21 Created: 2019-01-21 Last updated: 2019-01-21Bibliographically approved

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Karlsson, JesperTumova, Jana

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
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Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf