TOWARDS ROUTING FOR AUTONOMOUS ROBOTS - Using Constraint Programming in an Anytime Path Planner

Roman Barták, Michal Zerola, Stanislav Slušný

Abstract

Path planning is one of the critical tasks for autonomous robots. In this paper we study the problem of finding the shortest path for a robot collecting waste spread over the area such that the robot has a limited capacity and hence during the route it must periodically visit depots/collectors to empty the collected waste. This is a variant of often overlooked vehicle routing problem with satellite facilities. We present two approaches for this optimisation problem both based on Constraint Programming techniques. The former one is inspired by the operations research model, namely by the network flows, while the second one is driven by the concept of finite state automaton. The experimental comparison and enhancements of both models are discussed with emphasis on the further adaptation to the real world environment.

References

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Paper Citation


in Harvard Style

Barták R., Zerola M. and Slušný S. (2011). TOWARDS ROUTING FOR AUTONOMOUS ROBOTS - Using Constraint Programming in an Anytime Path Planner . In Proceedings of the 3rd International Conference on Agents and Artificial Intelligence - Volume 1: ICAART, ISBN 978-989-8425-40-9, pages 313-320. DOI: 10.5220/0003178703130320


in Bibtex Style

@conference{icaart11,
author={Roman Barták and Michal Zerola and Stanislav Slušný},
title={TOWARDS ROUTING FOR AUTONOMOUS ROBOTS - Using Constraint Programming in an Anytime Path Planner},
booktitle={Proceedings of the 3rd International Conference on Agents and Artificial Intelligence - Volume 1: ICAART,},
year={2011},
pages={313-320},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003178703130320},
isbn={978-989-8425-40-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 3rd International Conference on Agents and Artificial Intelligence - Volume 1: ICAART,
TI - TOWARDS ROUTING FOR AUTONOMOUS ROBOTS - Using Constraint Programming in an Anytime Path Planner
SN - 978-989-8425-40-9
AU - Barták R.
AU - Zerola M.
AU - Slušný S.
PY - 2011
SP - 313
EP - 320
DO - 10.5220/0003178703130320