The Matroid Team Surviving Orienteers problem: Constrained routing of heterogeneous teams with risky traversal

摘要

Consider a setting where robots must visit sites represented as nodes in a graph, but each robot may fail when traversing an edge. The goal is to find a set of paths for a team of robots which maximizes the expected number of nodes collectively visited, while guaranteeing that the paths satisfy a notion of “independence” formalized by a matroid (e.g. limits on team size, number of visits to regions), and that the probabilities that each robot survives to its destination are above a given threshold. We call this problem the Matroid Team Surviving Orienteers (MTSO) problem, which has broad applications such as environmental monitoring in risky regions and search and rescue in dangerous conditions. We present the MTSO formally and detail numerous examples of matroids in a path planning context. We then propose an approximate greedy algorithm for selecting a feasible set of paths and prove that the value of the output is within a factor p <inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">s</inf> /p <inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">s</inf> + λ of the optimum, where p <inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">s</inf> is the per-robot survival probability threshold and 1/λ ≤ 1 is the approximation factor of an oracle routine for the well known orienteering problem. We demonstrate the efficiency of our approach by applying it to a scenario where a team of robots must gather information while avoiding pirates in the Coral Triangle.