The route planning problem based on the greedy algorithm represents a method of identifying the optimal or near-optimal route between a given start point and end point. In this paper, the PCA method is employed initially to downscale the city evaluation indexes, extract the key principal components, and then downscale the data using the KMO and TOPSIS algorithms, all of which are based on the MindSpore framework. Secondly, for the dataset that does not pass the KMO test, the entropy weight method and TOPSIS method will be employed for comprehensive evaluation. Finally, a route planning algorithm is proposed and optimised based on the greedy algorithm, which provides personalised route customisation according to the different needs of tourists. In addition, the local travelling efficiency, the time required to visit tourist attractions and the necessary daily breaks are considered in order to reduce the cost and avoid falling into the locally optimal solution.

Informative path planning (IPP) is an important planning paradigm for various real-world robotic applications such as environment monitoring. IPP involves planning a path that can learn an accurate belief of the quantity of interest, while adhering to planning constraints. Traditional IPP methods typically require high computation time during execution, giving rise to reinforcement learning (RL) based IPP methods. However, the existing RL-based methods do not consider spatio-temporal environments which involve their own challenges due to variations in environment characteristics. In this paper, we propose DyPNIPP, a robust RL-based IPP framework, designed to operate effectively across spatio-temporal environments with varying dynamics. To achieve this, DyPNIPP incorporates domain randomization to train the agent across diverse environments and introduces a dynamics prediction model to capture and adapt the agent actions to specific environment dynamics. Our extensive experiments in a wildfire environment demonstrate that DyPNIPP outperforms existing RL-based IPP algorithms by significantly improving robustness and performing across diverse environment conditions.

Criminal courts across the United States handle millions of cases every year, and the scheduling of those cases must accommodate a diverse set of constraints, including the preferences and availability of courts, prosecutors, and defense teams. When criminal court schedules are formed, defendants' scheduling preferences often take the least priority, although defendants may face significant consequences (including arrest or detention) for missed court dates. Additionally, studies indicate that defendants' nonappearances impose costs on the courts and other system stakeholders. To address these issues, courts and commentators have begun to recognize that pretrial outcomes for defendants and for the system would be improved with greater attention to court processes, including \emph{court scheduling practices}. There is thus a need for fair criminal court pretrial scheduling systems that account for defendants' preferences and availability, but the collection of such data poses logistical challenges. Furthermore, optimizing schedules fairly across various parties' preferences is a complex optimization problem, even when such data is available. In an effort to construct such a fair scheduling system under data uncertainty, this paper proposes a joint optimization and learning framework that combines machine learning models trained end-to-end with efficient matching algorithms. This framework aims to produce court scheduling schedules that optimize a principled measure of fairness, balancing the availability and preferences of all parties.

Autonomous robot exploration requires a robot to efficiently explore and map unknown environments. Compared to conventional methods that can only optimize paths based on the current robot belief, learning-based methods show the potential to achieve improved performance by drawing on past experiences to reason about unknown areas. In this paper, we propose DARE, a novel generative approach that leverages diffusion models trained on expert demonstrations, which can explicitly generate an exploration path through one-time inference. We build DARE upon an attention-based encoder and a diffusion policy model, and introduce ground truth optimal demonstrations for training to learn better patterns for exploration. The trained planner can reason about the partial belief to recognize the potential structure in unknown areas and consider these areas during path planning. Our experiments demonstrate that DARE achieves on-par performance with both conventional and learning-based state-of-the-art exploration planners, as well as good generalizability in both simulations and real-life scenarios.

Robots are frequently tasked to gather relevant sensor data in unknown terrains. A key challenge for classical path planning algorithms used for autonomous information gathering is adaptively replanning paths online as the terrain is explored given limited onboard compute resources. Recently, learning-based approaches emerged that train planning policies offline and enable computationally efficient online replanning performing policy inference. These approaches are designed and trained for terrain monitoring missions assuming a single specific map representation, which limits their applicability to different terrains. To address these issues, we propose a novel formulation of the adaptive informative path planning problem unified across different map representations, enabling training and deploying planning policies in a larger variety of monitoring missions. Experimental results validate that our novel formulation easily integrates with classical non-learning-based planning approaches while maintaining their performance. Our trained planning policy performs similarly to state-of-the-art map-specifically trained policies. We validate our learned policy on unseen real-world terrain datasets.

In this paper, we consider teams of robots with heterogeneous skills (e.g., sensing and manipulation) tasked with collaborative missions described by Linear Temporal Logic (LTL) formulas. These LTL-encoded tasks require robots to apply their skills to specific regions and objects in a temporal and logical order. While existing temporal logic planning algorithms can synthesize correct-by-construction paths, they typically lack reactivity to unexpected failures of robot skills, which can compromise mission performance. This paper addresses this challenge by proposing a reactive LTL planning algorithm that adapts to unexpected failures during deployment. Specifically, the proposed algorithm reassigns sub-tasks to robots based on their functioning skills and locally revises team plans to accommodate these new assignments and ensure mission completion. The main novelty of the proposed algorithm is its ability to handle cases where mission completion becomes impossible due to limited functioning robots. Instead of reporting mission failure, the algorithm strategically prioritizes the most crucial sub-tasks and locally revises the team's plans, as per user-specified priorities, to minimize mission violations. We provide theoretical conditions under which the proposed framework computes the minimum violation task reassignments and team plans. We provide numerical and hardware experiments to demonstrate the efficiency of the proposed method.

Travel planning is a challenging and time-consuming task that aims to find an itinerary which satisfies multiple, interdependent constraints regarding flights, accommodations, attractions, and other travel arrangements. In this paper, we propose To the Globe (TTG), a real-time demo system that takes natural language requests from users, translates it to symbolic form via a fine-tuned Large Language Model, and produces optimal travel itineraries with Mixed Integer Linear Programming solvers. The overall system takes ~5 seconds to reply to the user request with guaranteed itineraries. To train TTG, we develop a synthetic data pipeline that generates user requests, flight and hotel information in symbolic form without human annotations, based on the statistics of real-world datasets, and fine-tune an LLM to translate NL user requests to their symbolic form, which is sent to the symbolic solver to compute optimal itineraries. Our NL-symbolic translation achieves ~91% exact match in a backtranslation metric (i.e., whether the estimated symbolic form of generated natural language matches the groundtruth), and its returned itineraries have a ratio of 0.979 compared to the optimal cost of the ground truth user request. When evaluated by users, TTG achieves consistently high Net Promoter Scores (NPS) of 35-40% on generated itinerary.

Informative path planning (IPP) applied to bathymetric mapping allows AUVs to focus on feature-rich areas to quickly reduce uncertainty and increase mapping efficiency. Existing methods based on Bayesian optimization (BO) over Gaussian Process (GP) maps work well on small scenarios but they are short-sighted and computationally heavy when mapping larger areas, hindering deployment in real applications. To overcome this, we present a 2-layered BO IPP method that performs non-myopic, real-time planning in a tree search fashion over large Stochastic Variational GP maps, while respecting the AUV motion constraints and accounting for localization uncertainty. Our framework outperforms the standard industrial lawn-mowing pattern and a myopic baseline in a set of hardware in the loop (HIL) experiments in an embedded platform over real bathymetry.

Task and motion planning (TAMP) frameworks address long and complex planning problems by integrating high-level task planners with low-level motion planners. However, existing TAMP methods rely heavily on the manual design of planning domains that specify the preconditions and postconditions of all high-level actions. This paper proposes a method to automate planning domain inference from a handful of test-time trajectory demonstrations, reducing the reliance on human design. Our approach incorporates a deep learning-based estimator that predicts the appropriate components of a domain for a new task and a search algorithm that refines this prediction, reducing the size and ensuring the utility of the inferred domain. Our method is able to generate new domains from minimal demonstrations at test time, enabling robots to handle complex tasks more efficiently. We demonstrate that our approach outperforms behavior cloning baselines, which directly imitate planner behavior, in terms of planning performance and generalization across a variety of tasks. Additionally, our method reduces computational costs and data amount requirements at test time for inferring new planning domains.

We present a neural network-enhanced column generation (CG) approach for a parallel machine scheduling problem. The proposed approach utilizes an encoder-decoder attention model, namely the transformer and pointer architectures, to develop job sequences with negative reduced cost and thus generate columns to add to the master problem. By training the neural network offline and using it in inference mode to predict negative reduced costs columns, we achieve significant computational time savings compared to dynamic programming (DP). Since the exact DP procedure is used to verify that no further columns with negative reduced cost can be identified at termination, the optimality guarantee of the original CG procedure is preserved. For small to medium-sized instances, our approach achieves an average 45% reduction in computation time compared to solving the subproblems with DP. Furthermore, the model generalizes not only to unseen, larger problem instances from the same probability distribution but also to instances from different probability distributions than those presented at training time. For large-sized instances, the proposed approach achieves an 80% improvement in the objective value in under 500 seconds, demonstrating both its scalability and efficiency.