@inbook{27d13f7d9c544a3a81f05a7a7d822bd9,
title = "Multi-robot Multi-goal Motion Planning with Time and Resources",
abstract = "This paper addresses multi-robot multi-goal motion planning with temporal and resources constraints. It solves the vehicle routing problem for mobile robots that operate according to their system dynamics, and which have to visit a number of waypoints scattered in a two-dimensional map environment with obstacles, while satisfying time window and capacity constraints. We compute the shortest path distances between each pair of waypoints in advance, and Monte-Carlo search plans the vehicles{\textquoteright} tour through adaptation of a rollout policy, while adding the constraints to its optimization objective. Macro actions enable the vehicles to run in real-time with best actions being distributed to the individual controllers. We analyze how the simulation is affected by varying parameters such as the number of vehicles.",
author = "Stefan Edelkamp and Junho Lee",
year = "2019",
doi = "10.1007/978-3-030-23807-0_24",
language = "English",
isbn = "9783030238063",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Verlag",
pages = "288--299",
editor = "Kaspar Althoefer and Jelizaveta Konstantinova and Ketao Zhang",
booktitle = "Towards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, Proceedings",
address = "Germany",
note = "20th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2019 ; Conference date: 03-07-2019 Through 05-07-2019",
}