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The Orienteering Problem with Time Windows Applied to Robotic Melon Harvesting

Author

Listed:
  • Moshe Mann

    (Technion)

  • Boaz Zion

    (Agricultural Research Organization - the Volcani Center)

  • Dror Rubinstein

    (Technion)

  • Rafi Linker

    (Technion)

  • Itzhak Shmulevich

    (Technion)

Abstract

The goal of a melon harvesting robot is to maximize the number of melons it harvests given a progressive speed. Selecting the sequence of melons that yields this maximum is an example of the orienteering problem with time windows. We present a dynamic programming-based algorithm that yields a strictly optimal solution to this problem. In contrast to similar methods, this algorithm utilizes the unique properties of the robotic harvesting task, such as uniform gain per vertex and time windows, to expand domination criteria and quicken the optimal path selection process. We prove that the complexity of this algorithm is linearithmic in the number of melons and can be implemented online if there is a bound on the density. The results of this algorithm are demonstrated to be significantly better than the standard heuristic solution for a wide range of harvesting robot scenarios.

Suggested Citation

  • Moshe Mann & Boaz Zion & Dror Rubinstein & Rafi Linker & Itzhak Shmulevich, 2016. "The Orienteering Problem with Time Windows Applied to Robotic Melon Harvesting," Journal of Optimization Theory and Applications, Springer, vol. 168(1), pages 246-267, January.
    • Handle: RePEc:spr:joptap:v:168:y:2016:i:1:d:10.1007_s10957-015-0767-z
    DOI: 10.1007/s10957-015-0767-z
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    References listed on IDEAS

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