Unsupervised Learning-Based Data Collection Planning with Dubins Vehicle and Constrained Data Retrieving Time
Authors: Deckerová, Jindřiška and Faigl, Jan
Link: https://link.springer.com/chapter/10.1007/978-3-031-67159-3_2Data collection based problem called Close Enough Dubins Traveling Salesman Problem with Time Constraints (CEDTSP-TC) is solved using Growing Self-Organizing Array (GSOA).
Abstract
In remote data collection from sampling stations, a vehicle must be within sufficient distance from a particular station for a predefined minimal time to retrieve required data from the site. The planning task is to find a cost-efficient data collection plan to retrieve data from all the stations. For a fixed-wing aerial vehicle flying with a constant forward velocity, the problem is to determine the shortest feasible path that visits every sensing site and ensure the vehicle is within a reliable communication distance from the station for a sufficient period. We propose to formulate the planning problem as a variant of the Close Enough Dubins Traveling Salesman Problem with Time Constraints (CEDTSP-TC) that is heuristically solved by unsupervised learning of the Growing Self-Organizing Array (GSOA) modified to address the constrained minimal data retrieving time. The proposed method is compared with a baseline based on a sampling-based decoupled approach, and the results support the feasibility of both proposed solvers in random instances.Citation
author = {Deckerová, Jindřiška and Faigl, Jan},
title = {Unsupervised Learning-Based Data Collection Planning with Dubins Vehicle and Constrained Data Retrieving Time},
booktitle = {Advances in Self-Organizing Maps, Learning Vector Quantization, Interpretable Machine Learning, and Beyond},
pages = {11–21},
year = {2024},
doi = {},
}
Jindřiška Deckerová
I am 4th year PhD student at the Czech Technical University in Prague. I work in the Computational Robotics Laboratory with the Articial Inteligence Center in Faculty of Electrical Engineering. My main focus is on the routing problems, the optimal solution of these problems and solution in dynamic environments. Besides, one of my hobbies is popularization of science.
I have a podcast with my friend Míša called věda bez cenzury where we talk about doctorate studies, academia, and science.