Multiregion Inspection by Combining Clustered Traveling Salesman Tours With Sampling-Based Motion Planning

Solving the Inspection Problem via Colored Traveling Salesman Tours

This paper describes an effective approach to solve the inspection problem via colored traveling salesman tours. Given an environment with obstacles and regions to be inspected, the approach plans a collision-free and dynamicallyfeasible motion trajectory that enables the vehicle to inspect all the regions of interest while reducing the distance traveled. A key aspect of the approach is the tra...

Euclidean Traveling Salesman Tours through Stochastic Neighborhoods

Abstract. We consider the problem of planning a shortest tour through a collection of neighborhoods in the plane, where each neighborhood is a disk whose radius is an i.i.d. random variable drawn from a known probability distribution. This is a stochastic version of the classic traveling salesman problem with neighborhoods (TSPN). Planning such tours under uncertainty, a fundamental problem in ...

Relaxed tours and path ejections for the traveling salesman problem

We describe an edge based ejection chain method to generate compound neighborhood structures for the Traveling Salesman Problem. These neighborhood structures enclose a special substructure which is not necessarily a Hamiltonian tour. Instead the neighborhood components are linked together to compose successive levels of an ejection chain, and coordinated by a suitable reference structure to ge...

Computing compatible tours for the symmetric traveling salesman problem

We consider the following natural heuristic for the Symmetric Traveling Salesman Problem: solve the subtour relaxation, yielding a solution x∗, and then find the best tour x̄ that is compatible with x∗, where compatible means that every subtour elimination constraint that is satisfied at equality at x∗ is also satisfied at equality at x̄ . We prove that finding the best compatible tour is NP-hard...

Sampling-Based Motion Planning