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Authors: Roman Barták 1 ; Michal Zerola 2 and Stanislav Slušný 3

Affiliations: 1 Charles University, Czech Republic ; 2 Czech Technical University, Czech Republic ; 3 Institute of Computer Science and Academy of Sciences of the Czech Republic, Czech Republic

ISBN: 978-989-8425-40-9

Keyword(s): Vehicle routing, Autonomous robots, Constraint programming, Optimisation.

Related Ontology Subjects/Areas/Topics: Agents ; Artificial Intelligence ; Autonomous Systems ; Constraint Satisfaction ; Formal Methods ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Planning and Scheduling ; Simulation and Modeling ; Symbolic Systems ; Task Planning and Execution

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.

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Paper citation in several formats:
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 2: ICAART, ISBN 978-989-8425-40-9, pages 313-320. DOI: 10.5220/0003178703130320

@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 2: ICAART,},
year={2011},
pages={313-320},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003178703130320},
isbn={978-989-8425-40-9},
}

TY - CONF

JO - Proceedings of the 3rd International Conference on Agents and Artificial Intelligence - Volume 2: 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

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