2023
DOI: 10.1177/02783649231210326
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The matroid team surviving orienteers problem and its variants: Constrained routing of heterogeneous teams with risky traversal

Stefan Jorgensen,
Marco Pavone

Abstract: Consider deploying a team of robots in order to visit sites in a risky environment (i.e., where a robot might be lost during a traversal), subject to team-based operational constraints such as limits on team composition, traffic throughputs, and launch constraints. We formalize this problem using a graph to represent the environment, enforcing probabilistic survival constraints for each robot, and using a matroid (which generalizes linear independence to sets) to capture the team-based operational constraints.… Show more

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