The OMEPP object-pickup energy-routing problem is solved by a concurrent search over payload-constrained path databases, giving near-optimal paths one to two orders of magnitude faster than repeated Z* searches in terrain experiments.
IEEE transactions on industrial informatics11(3), 601–611 (2015)
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Energy-Efficient Path Planning with Multi-Location Object Pickup for Mobile Robots on Uneven Terrain
The OMEPP object-pickup energy-routing problem is solved by a concurrent search over payload-constrained path databases, giving near-optimal paths one to two orders of magnitude faster than repeated Z* searches in terrain experiments.