Project - Towards Optimal Solution of Robotic Routing Problems

Towards Optimal Solution of Robotic Routing Problems

Duration: 2022–2024

Description

In the project, we aim to establish theoretical foundations for solving robotic routing problems with continuous optimization. We plan to leverage existing theoretical results on lower bound estimations of the close enough traveling salesman problem and model-based multi-goal motion planning for the Dubins vehicle model towards a general solution to combinatorial routing with continuous optimization problems arising in robotic scenarios. We target to establish algorithmic foundations for solution quality estimations based on tight lower bounds that can be employed in efficient pruning of search space and thus support finding optimal solutions. We target to 1) optimal solutions of routing problems with cost corresponding to the continuous optimization of multivariable functions arising from limitations of robotic systems; 2) design new efficient algorithms with machine learning-enabled scalability to solve large practical instances of realistic problems; 3) establish complex analysis and empirical evaluation of the developed solutions in experimental scenarios with robotic systems.

Related publications

Bayer, Jan and Faigl, Jan: Reward-field Guided Motion Planner for Navigation with Limited Sensing Range, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024, pp. 3167–3174.

PDF url BibTeX

@inproceedings{bayer24iros,
	author = {Bayer, Jan and Faigl, Jan},
	title = {Reward-field Guided Motion Planner for Navigation with Limited Sensing Range},
	booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
	pages = {3167–3174},
	year = {2024},
	doi = {10.1109/IROS58592.2024.10801843},
}

Deckerová, Jindřiška and Kučerová, Kristýna and Faigl, Jan: On Improvement Heuristic to Solutions of the Close Enough Traveling Salesman Problem in Environments with Obstacles, European Conference on Mobile Robots (ECMR), 2023, pp. 1–6.

PDF url BibTeX

@inproceedings{deckerova23ecmr,
	author = {Deckerová, Jindřiška and Kučerová, Kristýna and Faigl, Jan},
	title = {On Improvement Heuristic to Solutions of the Close Enough Traveling Salesman Problem in Environments with Obstacles},
	booktitle = {European Conference on Mobile Robots (ECMR)},
	pages = {1–6},
	year = {2023},
	doi = {10.1109/ECMR59166.2023.10256328},
}

Deckerová, Jindřiška and Váňa, Petr and Faigl, Jan: Combinatorial lower bounds for the Generalized Traveling Salesman Problem with Neighborhoods, Expert Systems with Applications, 258 (15) :125185, 2024.

PDF url BibTeX

@article{deckerova24eswa,
	author = {Deckerová, Jindřiška and Váňa, Petr and Faigl, Jan},
	title = {Combinatorial lower bounds for the Generalized Traveling Salesman Problem with Neighborhoods},
	journal= {Expert Systems with Applications},
	volume= {258},
	number= {15},
	pages = {125185},
	year = {2024},
	doi = {10.1016/j.eswa.2024.125185},
}

Deckerová, Jindřiška and Faigl, Jan: Unsupervised Learning-Based Data Collection Planning with Dubins Vehicle and Constrained Data Retrieving Time, Advances in Self-Organizing Maps, Learning Vector Quantization, Clustering and Data Visualization, 2024, pp. 11–21.

PDF url BibTeX

@inproceedings{deckerova24wsom,
	author = {Deckerová, Jindřiška and Faigl, Jan},
	title = {Unsupervised Learning-Based Data Collection Planning with Dubins Vehicle and Constrained Data Retrieving Time},
	booktitle = {Advances in Self-Organizing Maps, Learning Vector Quantization, Clustering and Data Visualization},
	pages = {11–21},
	year = {2024},
	doi = {10.1007/978-3-031-67159-3_2},
}

Ghotavadekar, Atharva and Nekovář, František and Saska, Martin and Faigl, Jan: Variable Time-Step MPC for Agile Multi-Rotor UAV Interception of Dynamic Targets, IEEE Robotics and Automation Letters, 10 (2) :1249–1256, 2025.

PDF url BibTeX

@article{ghotavadekar25ral,
	author = {Ghotavadekar, Atharva and Nekovář, František and Saska, Martin and Faigl, Jan},
	title = {Variable Time-Step MPC for Agile Multi-Rotor UAV Interception of Dynamic Targets},
	journal= {IEEE Robotics and Automation Letters},
	volume= {10},
	number= {2},
	pages = {1249–1256},
	year = {2025},
	doi = {10.1109/LRA.2024.3518096},
}

Hulchuk, Vsevolod and Bayer, Jan and Faigl, Jan: Graph-based LiDAR-Inertial SLAM Enhanced by Loosely-Coupled Visual Odometry, European Conference on Mobile Robots (ECMR), 2023, pp. 1–8.

PDF url BibTeX

@inproceedings{hulchuk23ecmr,
	author = {Hulchuk, Vsevolod and Bayer, Jan and Faigl, Jan},
	title = {Graph-based LiDAR-Inertial SLAM Enhanced by Loosely-Coupled Visual Odometry},
	booktitle = {European Conference on Mobile Robots (ECMR)},
	pages = {1–8},
	year = {2023},
	doi = {10.1109/ECMR59166.2023.10256360},
}

Hulchuk, Vsevolod and Bayer, Jan and Faigl, Jan: LiDAR-Visual-Inertial Tightly-coupled Odometry with Adaptive Learnable Fusion Weights, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024, pp. 5641–5647.

PDF url BibTeX

@inproceedings{hulchuk24iros,
	author = {Hulchuk, Vsevolod and Bayer, Jan and Faigl, Jan},
	title = {LiDAR-Visual-Inertial Tightly-coupled Odometry with Adaptive Learnable Fusion Weights},
	booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
	pages = {5641–5647},
	year = {2024},
	doi = {10.1109/IROS58592.2024.10802180},
}

Nekovář, František and Faigl, Jan and Saska, Martin: Vehicle Fault-Tolerant Robust Power Transmission Line Inspection Planning, IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), 2022, pp. 1–4.

PDF url BibTeX

@inproceedings{nekovar22etfa,
	author = {Nekovář, František and Faigl, Jan and Saska, Martin},
	title = {Vehicle Fault-Tolerant Robust Power Transmission Line Inspection Planning},
	booktitle = {IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)},
	pages = {1–4},
	year = {2022},
	doi = {10.1109/ETFA52439.2022.9921692},
}

Nekovář, František and Faigl, Jan and Saska, Martin: Multi-vehicle Dynamic Water Surface Monitoring, IEEE Robotics and Automation Letters, 8 (10) :6323–6330, 2023.

PDF url BibTeX

@article{nekovar23ral,
	author = {Nekovář, František and Faigl, Jan and Saska, Martin},
	title = {Multi-vehicle Dynamic Water Surface Monitoring},
	journal= {IEEE Robotics and Automation Letters},
	volume= {8},
	number= {10},
	pages = {6323–6330},
	year = {2023},
	doi = {10.1109/LRA.2023.3304533},
}

Sláma, Jakub and Herynek, Jáchym and Faigl, Jan: Risk-aware Emergency Landing Planning for Gliding Aircraft Model in Urban Environments, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023, pp. 4820–4826.

PDF url BibTeX

@inproceedings{slama23iros,
	author = {Sláma, Jakub and Herynek, Jáchym and Faigl, Jan},
	title = {Risk-aware Emergency Landing Planning for Gliding Aircraft Model in Urban Environments},
	booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
	pages = {4820–4826},
	year = {2023},
	doi = {10.1109/IROS55552.2023.10341622},
}