An official website of the United States government
In large scale coverage operations, such as marine exploration or aerial monitoring, single robot approaches are not ideal, as they may take too long to cover a large area. In such scenarios, multi-robot approaches are preferable. Furthermore, several real world vehicles are non-holonomic, but can be modeled using Dubins vehicle kinematics. This paper focuses on environmental monitoring of aquatic environments using Autonomous Surface Vehicles (ASVs). In particular, we propose a novel approach for solving the problem of complete coverage of a known environment by a multi-robot team consisting of Dubins vehicles. It is worth noting that both multi-robot coverage and Dubins vehicle coverage are NP-complete problems. As such, we present two heuristics methods based on a variant of the traveling salesman problem-k-TSP-formulation and clustering algorithms that efficiently solve the problem. The proposed methods are tested both in simulations to assess their scalability and with a team of ASVs operating on a 200 km 2 lake to ensure their applicability in real world.
more »
« less
Semi-boustrophedon coverage with a dubins vehicle
This paper addresses the problem of generating coverage paths-that is, paths that pass within some sensor footprint of every point in an environment-for vehicles with Dubins motion constraints. We extend previous work that solves this coverage problem as a traveling salesman problem (TSP) by introducing a practical heuristic algorithm to reduce runtime while maintaining near-optimal path length. Furthermore, we show that generating an optimal coverage path is NP-hard by reducing from the Exact Cover problem, which provides justification for our algorithm's conversion of Dubins coverage instances to TSP instances. Extensive experiments demonstrate that the algorithm does indeed produce length paths comparable to optimal in significantly less time.
more »
« less
- Award ID(s):
- 1637876
- PAR ID:
- 10127555
- Date Published:
- Journal Name:
- IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
- Page Range / eLocation ID:
- 5630 to 5637
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
More Like this
-
-
We present an analytic solution to the 3D Dubins path problem for paths composed of an initial circular arc, a straight component, and a final circular arc. These are commonly called CSC paths. By modeling the start and goal configurations of the path as the base frame and final frame of an RRPRR manipulator, we treat this as an inverse kinematics problem. The kinematic features of the 3D Dubins path are built into the constraints of our manipulator model. Furthermore, we show that the number of solutions is not constant, with up to seven valid CSC path solutions even in non-singular regions. An implementation of solution is available at https: //github.com/aabecker/dubins3D.more » « less
-
null (Ed.)Solving the Multi-Agent Path Finding (MAPF) problem optimally is known to be NP-Hard for both make-span and total arrival time minimization. While many algorithms have been developed to solve MAPF problems, there is no dominating optimal MAPF algorithm that works well in all types of problems and no standard guidelines for when to use which algorithm. In this work, we develop the deep convolutional network MAPFAST (Multi-Agent Path Finding Algorithm SelecTor), which takes a MAPF problem instance and attempts to select the fastest algorithm to use from a portfolio of algorithms. We improve the performance of our model by including single-agent shortest paths in the instance embedding given to our model and by utilizing supplemental loss functions in addition to a classification loss. We evaluate our model on a large and di- verse dataset of MAPF instances, showing that it outperforms all individual algorithms in its portfolio as well as the state-of-the-art optimal MAPF algorithm selector. We also provide an analysis of algorithm behavior in our dataset to gain a deeper understanding of optimal MAPF algorithms’ strengths and weaknesses to help other researchers leverage different heuristics in algorithm designs.more » « less
-
We consider the problem of designing sublinear time algorithms for estimating the cost of minimum] metric traveling salesman (TSP) tour. Specifically, given access to a n × n distance matrix D that specifies pairwise distances between n points, the goal is to estimate the TSP cost by performing only sublinear (in the size of D) queries. For the closely related problem of estimating the weight of a metric minimum spanning tree (MST), it is known that for any epsilon > 0, there exists an O^~(n/epsilon^O(1))-time algorithm that returns a (1+epsilon)-approximate estimate of the MST cost. This result immediately implies an O^~(n/epsilon^O(1)) time algorithm to estimate the TSP cost to within a (2 + epsilon) factor for any epsilon > 0. However, no o(n^2)-time algorithms are known to approximate metric TSP to a factor that is strictly better than 2. On the other hand, there were also no known barriers that rule out existence of (1 + epsilon)-approximate estimation algorithms for metric TSP with O^~ (n) time for any fixed epsilon > 0. In this paper, we make progress on both algorithms and lower bounds for estimating metric TSP cost. On the algorithmic side, we first consider the graphic TSP problem where the metric D corresponds to shortest path distances in a connected unweighted undirected graph. We show that there exists an O^~(n) time algorithm that estimates the cost of graphic TSP to within a factor of (2 − epsilon_0) for some epsilon_0 > 0. This is the first sublinear cost estimation algorithm for graphic TSP that achieves an approximation factor less than 2. We also consider another well-studied special case of metric TSP, namely, (1, 2)-TSP where all distances are either 1 or 2, and give an O^~(n ^ 1.5) time algorithm to estimate optimal cost to within a factor of 1.625. Our estimation algorithms for graphic TSP as well as for (1, 2)-TSP naturally lend themselves to O^~(n) space streaming algorithms that give an 11/6-approximation for graphic TSP and a 1.625-approximation for (1, 2)-TSP. These results motivate the natural question if analogously to metric MST, for any epsilon > 0, (1 + epsilon)-approximate estimates can be obtained for graphic TSP and (1, 2)-TSP using O^~ (n) queries. We answer this question in the negative – there exists an epsilon_0 > 0, such that any algorithm that estimates the cost of graphic TSP ((1, 2)-TSP) to within a (1 + epsilon_0)-factor, necessarily requires (n^2) queries. This lower bound result highlights a sharp separation between the metric MST and metric TSP problems. Similarly to many classical approximation algorithms for TSP, our sublinear time estimation algorithms utilize subroutines for estimating the size of a maximum matching in the underlying graph. We show that this is not merely an artifact of our approach, and that for any epsilon > 0, any algorithm that estimates the cost of graphic TSP or (1, 2)-TSP to within a (1 + epsilon)-factor, can also be used to estimate the size of a maximum matching in a bipartite graph to within an epsilon n additive error. This connection allows us to translate known lower bounds for matching size estimation in various models to similar lower bounds for metric TSP cost estimation.more » « less
-
Autonomous survey and aerial photogrammetry applications require solving a path planning problem that ensures sensor coverage over a specified area. In this work, we provide a multi-robot path planning method that can obtain this coverage over an arbitrary area of interest. We extend our previous method, path optimization for population counting with overhead robotic networks (POPCORN), by a divide-and-conquer scheme, split and link tiles (SALT), which drastically decreases the time needed for route planning. These POPCORN instances can be computed in parallel and combined with SALT in a scalable manner to produce coverage paths over very large areas of interest. To demonstrate this algorithm’s capabilities, we implemented our planning algorithm with a team of drones to conduct multiple photographic aerial wildlife surveys of the Cape Crozier Adélie penguin rookery on Ross Island, Antarctica, one of the largest Adélie penguin colonies in the world. The colony, which contains over 300,000 nesting pairs and spans over 2 km, was surveyed in about 3 hours. In contrast, previous human-piloted single-drone surveys of the same colony required over 2 days to complete. We also have deployed our survey system at several islets at Mono Lake, California, to survey a California gull colony as well as at a 2000-acre ranch in Marin, California. We provide this survey path planning tool as an open-source software package named wadl.more » « less
- Free Publicly Accessible Full Text
-
Accepted Manuscript1.0
- Conference Paper:
- https://doi.org/10.1109/IROS.2017.8206451
