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A survey on routing problems and robotic systems

Published online by Cambridge University Press:  06 August 2018

Douglas G. Macharet  and
Mario F. M. Campos
Douglas G. Macharet*
Affiliation:
Computer Vision and Robotics Laboratory, Department of Computer Science, Universidade Federal de Minas Gerais, Belo Horizonte, MG, Brazil. E-mail: mario@dcc.ufmg.br
Mario F. M. Campos
Affiliation:
Computer Vision and Robotics Laboratory, Department of Computer Science, Universidade Federal de Minas Gerais, Belo Horizonte, MG, Brazil. E-mail: mario@dcc.ufmg.br
*
*Corresponding author. E-mail: doug@dcc.ufmg.br
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Summary

Planning paths that are length or time optimized or both is an age-long problem for which numerous approaches have been proposed with varied degree of success depending on the imposed constraints. Among classical instances in the literature, the Traveling Salesman Problem and the Vehicle Routing Problem have been widely studied and frequently considered in the realm of mobile robotics. Understandably, the classical formulation for such problems do not take into account many different issues that arise in real-world scenarios, such as motion constraints and dynamic environments, commonly found in actual robotic systems, and consequently the solutions have been generalized in several ways. In this work, we present a broad and comprehensive review of the classical works and recent breakthroughs regarding the routing techniques ordinarily used in robotic systems and provide references to the most fundamental works in the literature.

Keywords

Traveling Salesman ProblemVehicle Routing ProblemDubins vehicleDubins TSPTSP with neighborhoodsk-TSPDynamic VRP

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Type
Articles
Information
Robotica , Volume 36 , Issue 12 , December 2018 , pp. 1781 - 1803
Copyright
Copyright © Cambridge University Press 2018 

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