Combined Routing and Scheduling of Heterogeneous Transport and Service Agents
Combined Routing and Scheduling of Heterogeneous Transport and Service Agents
复制标题
异构传输和服务代理的组合路由和调度
DOI：
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发表时间：
2021
期刊：
影响因子：
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通讯作者：
Vijay R. Kumar
中科院分区：
文献类型：
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作者：
S. Narayan;James Paulos;Steven W. Chen;Sandeep Manjanna;Vijay R. Kumar
本文研究了使用具有异构范围和移动性限制的车辆协作部署在大范围内服务航路点。我们为单辆运输卡车和多架服务无人机制定联合规划问题，其中卡车被限制在道路上，并且必须部署一组范围受限的无人机来访问航路点。在多次飞行中部署、收集和重新部署无人机的需要给这个问题带来了路线查找和调度方面的问题。我们通过将我们的方法分解为服务无人机路线查找阶段和运输卡车调度阶段来解决大型问题实例。数值模拟探索了驾驶计划的定性特征以及向团队添加额外无人机的定量边际价值，作为代理数量和相对速度的函数。道路网络约束和范围约束的结合使得这个问题与大面积林业、最后一英里交付和生态监测应用尤其相关。
This paper investigates servicing waypoints in a wide area using collaborative deployments of vehicles with heterogeneous range and mobility constraints. We formulate a joint planning problem for a single transport truck and multiple service drones in which the truck is constrained to a road and must deploy a team of range-constrained drones to visit waypoints. The need to deploy, collect, and redeploy drones over multiple flights introduces both route finding and scheduling aspects to this problem. We solve large problem instances by decoupling our approach into a service drone route finding phase and a transport truck scheduling phase. Numerical simulations explore the qualitative character of the driving schedule and the quantitative marginal value of adding additional drones to the team as a function of agent number and relative speed. The combination of road network constraints and range constraints make this problem especially relevant to wide area forestry, last-mile delivery, and ecological monitoring applications.