62 citations · 370 across the 54 of their papers we have counts for
14 papers · 1 filter
An Exact Branch-Price-and-Cut Algorithm for a Truck-as-Hub Vehicle Routing Problem with Drones
Fan Pu, Sivakumar Rathinam, Yunlong Zhang +3
Rural last-mile logistics remains challenging because of sparse demand, limited road infrastructure, and long travel distances. We study a Truck-as-Hub Vehicle Routing Problem with…
An Exact Algorithm for Load-Dependent Traveling Salesman Problem for Unmanned Aerial Vehicle Package Delivery
Deepak Prakash Kumar, Saurabh Belgaonkar, Sivakumar Rathinam +2
In this article, we present a novel formulation for the load-dependent traveling salesman problem (LD-TSP), in which travel cost (or energy expended) depends on the vehicle's curre…
Cyclic Modulation Control of Multi-Conflict Connected Automated Traffic
Fan Pu, Zihao Li, Sivakumar Rathinam +2
Multi-conflict traffic is ubiquitous. Connected Automated Vehicles (CAVs) offer unprecedented opportunities to enhance safety, reduce emissions, and increase throughput through pre…
A Path Planning Algorithm for a Hybrid UAV Traveling in Noise Restricted Zones
Saurabh Belgaonkar, Deepak Prakash Kumar, Sivakumar Rathinam +2
This paper presents an integrated approach for efficient path planning and energy management in hybrid unmanned aerial vehicles (HUAVs) equipped with dual fuel-electric propulsion…
Heterogeneous Min-Max Multi-Vehicle Multi-Depot Traveling Salesman Problem: Heuristics and Computational Results
Deepak Prakash Kumar, Sivakumar Rathinam, Swaroop Darbha +1
In this paper, a heuristic for a heterogeneous min-max multi-vehicle multi-depot traveling salesman problem is proposed, wherein heterogeneous vehicles start from given depot locat…
for Graphs of Convex Sets
Kaarthik Sundar, Sivakumar Rathinam
We present a novel algorithm that fuses the existing convex-programming based approach with heuristic information to find optimality guarantees and near-optimal paths for the Short…
Heuristic for Min-Max Heterogeneous Multi-Vehicle Multi-Depot Traveling Salesman Problem
Deepak Prakash Kumar, Sivakumar Rathinam, Swaroop Darbha +1
In this article, a heuristic is proposed for a min-max heterogeneous multi-vehicle multi-depot traveling salesman problem (TSP), wherein heterogeneous vehicles start from given dep…
Enhanced Multi-Objective A* with Partial Expansion
Valmiki Kothare, Zhongqiang Ren, Sivakumar Rathinam +1
The Multi-Objective Shortest Path Problem (MO-SPP), typically posed on a graph, determines a set of paths from a start vertex to a destination vertex while optimizing multiple obje…
Optimal Geodesic Curvature Constrained Dubins' Paths on a Sphere
Swaroop Darbha, Athindra Pavan, K. R. Rajagopal +3
In this article, we consider the motion planning of a rigid object on the unit sphere with a unit speed. The motion of the object is constrained by the maximum absolute value, $U_{…
Routing Multiple Unmanned Vehicles in GPS-Denied Environments
Bingyu Wang, Sohum Misra, Sivakumar Rathinam +2
This article aims to develop novel path planning algorithms required to deploy multiple unmanned vehicles in Global Positioning System (GPS) denied environments. Unmanned vehicles…
Landmark Placement for Localization in a GPS-denied Environment
Kaarthik Sundar, Shriram Srinivasan, Sohum Misra +2
Path planning algorithms for unmanned aerial or ground vehicles, in many surveillance applications, rely on Global Positioning System (GPS) information for localization. However, d…
A Two-Stage Approach for Routing Multiple Unmanned Aerial Vehicles with Stochastic Fuel Consumption
Saravanan Venkatachalam, Kaarthik Sundar, Sivakumar Rathinam
The past decade has seen a substantial increase in the use of small unmanned aerial vehicles (UAVs) in both civil and military applications. This article addresses an important asp…
Shortest Paths of Bounded Curvature for the Dubins Interval Problem
Satyanarayana Manyam, Sivakumar Rathinam, David Casbeer +1
The Dubins interval problem aims to find the shortest path of bounded curvature between two targets such that the departure angle from the first target and the arrival angle at the…
On Tightly Bounding the Dubins Traveling Salesman's Optimum
Satyanarayana Manyam, Sivakumar Rathinam
The Dubins Traveling Salesman Problem (DTSP) has generated significant interest over the last decade due to its occurrence in several civil and military surveillance applications.…