Dynamic Real-time Multimodal Routing with Hierarchical Hybrid Planning
Dynamic Real-time Multimodal Routing with Hierarchical Hybrid Planning
复制标题
具有分层混合规划的动态实时多模式路由
DOI：
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复制
发表时间：
2019
期刊：
影响因子：
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通讯作者：
Mykel J. Kochenderfer
中科院分区：
文献类型：
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作者：
Shushman Choudhury;Mykel J. Kochenderfer
我们介绍了动态实时多模式路由（DREAMR）的问题，这需要规划和执行的不确定性下的自治代理的路线。智能体可以在动态运输车辆网络中使用多种运输模式。例如，无人机可以飞行或乘坐地形车辆的路线段。DREAMR是一个具有离散和连续变量的不确定条件下的序贯决策难题。我们设计了一个新的分层混合规划框架来解决DREAMR问题，利用其结构分解。我们的框架由一个全局开环规划层，调用和监控本地闭环执行层。额外的抽象允许规划和执行的高效和无缝交织。我们为DREAMR问题创建了一个大规模的模拟，每个场景都有数百条运输路线和数千个连接点。我们的算法框架显着优于滚动时域控制基线，在经过的时间到达目的地和能源消耗的代理。
We introduce the problem of Dynamic Real-time Multimodal Routing (DREAMR), which requires planning and executing routes under uncertainty for an autonomous agent. The agent can use multiple modes of transportation in a dynamic transit vehicle network. For instance, a drone can either fly or ride on terrain vehicles for segments of their routes. DREAMR is a difficult problem of sequential decision making under uncertainty with both discrete and continuous variables. We design a novel hierarchical hybrid planning framework to solve the DREAMR problem that exploits its structural decomposability. Our framework consists of a global open-loop planning layer that invokes and monitors a local closed-loop execution layer. Additional abstractions allow efficient and seamless interleaving of planning and execution. We create a large-scale simulation for DREAMR problems, with each scenario having hundreds of transportation routes and thousands of connection points. Our algorithmic framework significantly outperforms a receding horizon control baseline, in terms of elapsed time to reach the destination and energy expended by the agent.
DOI：
10.1007/978-3-319-49487-6_2
发表时间：
2016-01-01
期刊：
ALGORITHM ENGINEERING: SELECTED RESULTS AND SURVEYS
影响因子：
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作者：
Bast, Hannah;Delling, Daniel;Werneck, Renato F.
通讯作者：
Werneck, Renato F.