arXiv:2607. 06066v1 Announce Type: new Abstract: The Vehicle Routing Problem (VRP) and its variants represent some of the most practically consequential optimization challenges in modern logistics and urban mobility.
By Manish Kolachalam, Rani Malhotra
The paper introduces a unified branch‑and‑bound framework for the Steiner Traveling Salesman Problem on Graphs of Convex Sets (GCS), where the goal is to find a minimum‑cost closed walk through required convex sets while allowing optional vertices and revisits. The method uses additive lower‑bound graph costs for committed prefixes and a cut‑separated connected‑flow relaxation for the remaining cost, guaranteeing finite termination under a uniform positive‑cost assumption. Experiments on benchmark instances show that both best‑first and depth‑first traversal strategies find feasible solutions within 30 seconds, achieving mean certified optimality gaps of 28.1% and 29.7% respectively, outperforming two recent baselines.
By Jingtao Tang, Hang Ma
arXiv:2606. 06618v1 Announce Type: cross Abstract: How can we plan long-horizon routes that reach designated goals, visit required waypoints, and remain short when only short-horizon offline trajectories are available?
By Jungmin Seo, Jaesik Park
The paper presents DORA, an online learning algorithm for robot navigation that uses Dijkstra’s algorithm as an exact planning engine under a weaker condition than usual causality—specifically, nonnegativity of a reduced cost on a determinized map. DORA calls a shortest‑path oracle a fixed number of times per episode, avoids estimating transition kernels, and incorporates a logarithmic survival weight to keep contact probabilities with dynamic obstacles within a budget. Experiments on grid‑world, directional drilling, and drone surveillance benchmarks show that DORA matches optimistic value iteration with the true transition kernel while performing 4.5 to 19.3 times less planner work, reduces contacts by a factor of seventeen compared to determinize‑and‑replan, and maintains contact rates within wide budget ranges.
By Mansur M. Arief, Ali Akarma, Ahmad Alfan Alfian Irfan
Mobile robots that operate in side by side with humans and critical facilities must reach their goals at low cost, despite often unknown true traversal costs of the map apriori and imperfect actuation...
arXiv:2609.22974v1 Announce Type: cross
Abstract: In this paper, we investigate the Minimum Obstacle Displacement Planning problem from a robot motion planning perspective. The problem involves deter...
By Antony Thomas, Giulio Ferro, Fulvio Mastrogiovanni, Michela Robba, Marco Baglietto