可修复网络中护航车队的辅助最短路径规划
Assisted Shortest Path Planning for a Convoy through a Repairable Network
AI总结：
针对部分受阻网络中护航车队与服务车协同的路径规划问题，提出辅助最短路径问题（ASPP），并设计改进的广义永久标记算法$GPLA^*$高效求解最优路径。
摘要：
在本文中，我们考虑部分受阻环境中的多智能体路径规划问题。受阻环境由一个图表示，其中选定的受损路段（边）阻碍了道路网络中的车辆通行。一支护航车队希望从起点前往目的地，同时最小化某些累计成本。车队可以通过受损边，但需支付额外成本（与修复该边相关），高于未受损时的成本。第二辆车（称为服务车）与车队同时部署。服务车通过修复边来协助车队，降低车队通过该边的成本。车队可以在任何顶点等待，以允许服务车完成边的修复。服务车可以在任何顶点终止其路径。目标是找到一对路径，使车队到达目的地，同时最小化两辆车活跃的总时间（成本），包括车队的等待时间。我们将此问题称为辅助最短路径问题（ASPP）。我们提出一种广义永久标记算法来寻找ASPP的最优解。我们还引入对标记算法的额外修改以显著缩短计算时间，并将修改后的标记算法称为$GPLA^*$。我们展示了计算结果，以说明$GPLA^*$在解决ASPP中的有效性。最后，我们给出总结性评论，并简要讨论ASPP的未来工作潜在变体。
英文摘要：
In this article, we consider a multi-agent path planning problem in a partially impeded environment. The impeded environment is represented by a graph with select road segments (edges) in disrepair impeding vehicular movement in the road network. A convoy wishes to travel from a starting location to a destination while minimizing some accumulated cost. The convoy may traverse an impeded edge for an additional cost (associated with repairing the edge) than if it were unimpeded. A second vehicle, referred to as a service vehicle, is simultaneously deployed with the convoy. The service vehicle assists the convoy by repairing an edge, reducing the cost for the convoy to traverse that edge. The convoy is permitted to wait at any vertex to allow the service vehicle to complete repairing an edge. The service vehicle is permitted to terminate its path at any vertex. The goal is then to find a pair of paths so the convoy reaches its destination while minimizing the total time (cost) the two vehicles are active, including any time the convoy waits. We refer to this problem as the Assisted Shortest Path Problem (ASPP). We present a generalized permanent labeling algorithm to find an optimal solution for the ASPP. We also introduce additional modifications to the labeling algorithm to significantly improve the computation time and refer to the modified labeling algorithm as $GPLA^*$. Computational results are presented to illustrate the effectiveness of $GPLA^*$ in solving the ASPP. We then give concluding remarks and briefly discuss potential variants of the ASPP for future work.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
