公共交通網を活用した大規模マルチドローンの効率的配送
Efficient Large-Scale Multi-Drone Delivery Using Transit Networks
バスやトラムなどの公共交通にドローンが乗り継ぎながら配送する枠組みを提案し、最大配送時間を最小化する二層アルゴリズムで最大200機・5000荷物の都市規模問題を数秒で解く。
著者: Shushman Choudhury, Kiril Solovey, Mykel J. Kochenderfer, Marco Pavone
分類: cs.RO, cs.AI, cs.MA
原文アブストラクト
We consider the problem of controlling a large fleet of drones to deliver packages simultaneously across broad urban areas. To conserve energy, drones hop between public transit vehicles (e.g., buses and trams). We design a comprehensive algorithmic framework that strives to minimize the maximum time to complete any delivery. We address the multifaceted complexity of the problem through a two-layer approach. First, the upper layer assigns drones to package delivery sequences with a near-optimal polynomial-time task allocation algorithm. Then, the lower layer executes the allocation by periodically routing the fleet over the transit network while employing efficient bounded-suboptimal multi-agent pathfinding techniques tailored to our setting. Experiments demonstrate the efficiency of our approach on settings with up to $200$ drones, $5000$ packages, and transit networks with up to $8000$ stops in San Francisco and Washington DC. Our results show that the framework computes solutions typically within a few seconds on commodity hardware, and that drones travel up to $360 \%$ of their flight range with public transit.
