Скачать или смотреть Shushman Choudhury's Talk on "Efficient Large-Scale Multi-Agent Routing over Transit Networks"

Shushman Choudhury's (Stanford) Talk on "Efficient Large-Scale Multi-Agent Routing over Transit Networks" at Robotics Lunch at 4/24/2020. English subtitles have been auto-generated by Zoom.

Abstract: We present a comprehensive algorithmic framework for routing a large fleet of drones to deliver packages simultaneously across broad urban areas. We assume that drones can hop between public transit vehicles (e.g., buses and trams) to conserve energy. We strive to minimize the maximum time to complete any delivery and address the multifaceted complexity of this problem through a two-layer approach. First, the upper layer assigns drones to package delivery sequences with a near-optimal polynomial-time allocation algorithm. Then, the lower layer executes the allocation by periodically routing the fleet over the transit network, using efficient bounded-suboptimal multi-agent pathfinding techniques tailored to our setting. We demonstrate the efficiency of our approach on simulations with up to 200 drones, 5000 packages, and transit networks with up to 8000 stops in San Francisco and the Washington DC Metropolitan Area. Our framework computes solutions for most settings within a few seconds on commodity hardware, and enables drones to extend their effective range to 360% with public transit.