scholarly journals A Revisiting Method Using a Covariance Traveling Salesman Problem Algorithm for Landmark-Based Simultaneous Localization and Mapping

Sensors ◽  
2019 ◽  
Vol 19 (22) ◽  
pp. 4910 ◽  
Author(s):  
Hyejeong Ryu
Keyword(s):  
Measurement Uncertainty ◽  
Traveling Salesman Problem ◽  
Optimal Path ◽  
Simultaneous Localization And Mapping ◽  
Traveling Salesman ◽  
Localization And Mapping ◽  
Sensor Measurement ◽  
Slam Algorithm ◽  
The Traveling Salesman Problem ◽  
The Cost

This paper presents an efficient revisiting algorithm for landmark-based simultaneous localization and mapping (SLAM). To reduce SLAM uncertainty in terms of a robot’s pose and landmark positions, the method autonomously evaluates valuable landmarks for the data associations in the SLAM algorithm and selects positions to revisit by considering both landmark visibility and sensor measurement uncertainty. The optimal path among the selected positions is obtained by applying the traveling salesman problem (TSP) algorithm. To plan a path that reduces overall uncertainty, the cost matrix associated with the change in covariance between all selected positions of all pairs is applied for the TSP algorithm. From simulations, it is verified that the proposed method efficiently reduces and maintains SLAM uncertainty at the low level compared to the backtracking method.

scholarly journals On the Traveling Salesman Problem in Nautical Environments: an Evolutionary Computing Approach to Optimization of Tourist Route Paths in Medulin, Croatia

2019 ◽  
Vol 57 (1) ◽  
pp. 71-87 ◽  
Author(s):  
Sandi Baressi Šegota ◽  
Ivan Lorencin ◽  
Kazuhiro Ohkura ◽  
Zlatan Car
Keyword(s):  
Traveling Salesman Problem ◽  
Optimal Path ◽  
Solution Space ◽  
Evolutionary Computing ◽  
Problem Formulation ◽  
Computing Methods ◽  
Traveling Salesman ◽  
Planning Problem ◽  
Extensive Search ◽  
The Traveling Salesman Problem

The Traveling salesman problem (TSP) defines the problem of finding the optimal path between multiple points, connected by paths of a certain cost. This paper applies that problem formulation in the maritime environment, specifically a path planning problem for a tour boat visiting popular tourist locations in Medulin, Croatia. The problem is solved using two evolutionary computing methods – the genetic algorithm (GA) and the simulated annealing (SA) - and comparing the results (are compared) by an extensive search of the solution space. The results show that evolutionary computing algorithms provide comparable results to an extensive search in a shorter amount of time, with SA providing better results of the two.

Extrema of a Class of Functions on a Finite Set

1974 ◽  
Vol 26 (4) ◽  
pp. 806-819
Author(s):  
Kenneth W. Lebensold
Keyword(s):  
Positive Integer ◽  
Traveling Salesman Problem ◽  
Traveling Salesman ◽  
Polygonal Path ◽  
Finite Set ◽  
Vertex Set ◽  
The Traveling Salesman Problem ◽  
The Cost ◽  
Special Case ◽  
Class Of Functions

In this paper, we are concerned with the following problem: Let S be a finite set and Sm* ⊂ 2S a collection of subsets of S each of whose members has m elements (m a positive integer). Let f be a real-valued function on S and, for p ∊ Sm*, define f(P) as Σs∊pf (s). We seek the minimum (or maximum) of the function f on the set Sm*.The Traveling Salesman Problem is to find the cheapest polygonal path through a given set of vertices, given the cost of getting from any vertex to any other. It is easily seen that the Traveling Salesman Problem is a special case of this system, where S is the set of all edges joining pairs of points in the vertex set, Sm* is the set of polygons, each polygon has m elements (m = no. of points in the vertex set = no. of edges per polygon), and f is the cost function.

scholarly journals A Graph-Based Approach to Optimal Scan Chain Stitching Using RTL Design Descriptions

VLSI Design ◽  
2012 ◽  
Vol 2012 ◽  
pp. 1-11 ◽  
Author(s):  
Lilia Zaourar ◽  
Yann Kieffer ◽  
Chouki Aktouf
Keyword(s):  
Approximation Algorithms ◽  
Traveling Salesman Problem ◽  
Traveling Salesman ◽  
Graph Models ◽  
Rtl Design ◽  
And Performance ◽  
Scan Chain ◽  
The Traveling Salesman Problem ◽  
The Cost

The scan chain insertion problem is one of the mandatory logic insertion design tasks. The scanning of designs is a very efficient way of improving their testability. But it does impact size and performance, depending on the stitching ordering of the scan chain. In this paper, we propose a graph-based approach to a stitching algorithm for automatic and optimal scan chain insertion at the RTL. Our method is divided into two main steps. The first one builds graph models for inferring logical proximity information from the design, and then the second one uses classic approximation algorithms for the traveling salesman problem to determine the best scan-stitching ordering. We show how this algorithm allows the decrease of the cost of both scan analysis and implementation, by measuring total wirelength on placed and routed benchmark designs, both academic and industrial.

scholarly journals A generalization of the convex-hull-and-line traveling salesman problem

1998 ◽  
Vol 2 (2) ◽  
pp. 177-191 ◽  
Author(s):  
Md. Fazle Baki ◽  
S. N. Kabadi
Keyword(s):  
Convex Hull ◽  
Traveling Salesman Problem ◽  
Equivalence Relation ◽  
General Class ◽  
Traveling Salesman ◽  
Cost Matrix ◽  
Solvable Case ◽  
Special Cases ◽  
The Traveling Salesman Problem ◽  
The Cost

Two instances of the traveling salesman problem, on the same node set {1,2,…,n} but with different cost matrices C and C′ , are equivalent iff there exist {ai,bi: i=1,…, n} such that for any 1≤i, j≤n,i≠j,C′(i,j)=C(i,j)+ai+bj [7]. One of the well-solved special cases of the traveling salesman problem (TSP) is the convex-hull-and-line TSP. We extend the solution scheme for this class of TSP given in [9] to a more general class which is closed with respect to the above equivalence relation. The cost matrix in our general class is a certain composition of Kalmanson matrices. This gives a new, non-trivial solvable case of TSP.

A New Heuristic Procedure To Solve The Traveling Salesman Problem

2007 ◽  
Vol 5 (1) ◽  
pp. 1-9
Author(s):  
Paulo Henrique Siqueira ◽  
Sérgio Scheer ◽  
Maria Teresinha Arns Steiner
Keyword(s):  
Traveling Salesman Problem ◽  
Traveling Salesman ◽  
Heuristic Procedure ◽  
The Traveling Salesman Problem

scholarly journals An Improved Whale Optimization Algorithm for the Traveling Salesman Problem

Symmetry ◽  
2020 ◽  
Vol 13 (1) ◽  
pp. 48
Author(s):  
Jin Zhang ◽  
Li Hong ◽  
Qing Liu
Keyword(s):  
Traveling Salesman Problem ◽  
Optimization Algorithm ◽  
Optimization Problems ◽  
Relevant Literature ◽  
Population Diversity ◽  
Traveling Salesman ◽  
Whale Optimization Algorithm ◽  
Neighborhood Search ◽  
Whale Optimization ◽  
The Traveling Salesman Problem

The whale optimization algorithm is a new type of swarm intelligence bionic optimization algorithm, which has achieved good optimization results in solving continuous optimization problems. However, it has less application in discrete optimization problems. A variable neighborhood discrete whale optimization algorithm for the traveling salesman problem (TSP) is studied in this paper. The discrete code is designed first, and then the adaptive weight, Gaussian disturbance, and variable neighborhood search strategy are introduced, so that the population diversity and the global search ability of the algorithm are improved. The proposed algorithm is tested by 12 classic problems of the Traveling Salesman Problem Library (TSPLIB). Experiment results show that the proposed algorithm has better optimization performance and higher efficiency compared with other popular algorithms and relevant literature.

scholarly journals An Optimal Algorithm for the Traveling Salesman Problem with Time Windows

1995 ◽  
Vol 43 (2) ◽  
pp. 367-371 ◽  
Author(s):  
Yvan Dumas ◽  
Jacques Desrosiers ◽  
Eric Gelinas ◽  
Marius M. Solomon
Keyword(s):  
Traveling Salesman Problem ◽  
Optimal Algorithm ◽  
Time Windows ◽  
Traveling Salesman ◽  
The Traveling Salesman Problem
Sign in / Sign up

Export Citation Format

Share Document