# The Team Surviving Orienteers problem: routing teams of robots in uncertain environments with survival constraints

@article{Jorgensen2018TheTS, title={The Team Surviving Orienteers problem: routing teams of robots in uncertain environments with survival constraints}, author={Stefan Jorgensen and Robert H. Chen and Mark B. Milam and Marco Pavone}, journal={Autonomous Robots}, year={2018}, volume={42}, pages={927-952} }

We study the following multi-robot coordination problem: given a graph, where each edge is weighted by the probability of surviving while traversing it, find a set of paths for K robots that maximizes the expected number of nodes collectively visited, subject to constraints on the probabilities that each robot survives to its destination. We call this the Team Surviving Orienteers (TSO) problem, which is motivated by scenarios where a team of robots must traverse a dangerous environment, such…

## 19 Citations

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This work proposes a multi-stage clustering-based metaheuristic that aims to dramatically improve the computation time of a given Orienteering Problem algorithm without a significant decrease in the solution quality of that algorithm, especially for large Orienteering Problems.

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