Risk-Aware Submodular Optimization for Stochastic Travelling Salesperson Problem
Rishab Balasubramanian,Lifeng Zhou,Pratap Tokekar,P. B. Sujit,Rishab Balasubramanian,Lifeng Zhou,Pratap Tokekar,P. B. Sujit
We introduce a risk-aware variant of the Traveling Salesperson Problem (TSP), where the robot tour cost and reward have to be optimized simultaneously, while being subjected to uncertainty in both. We study the case where the rewards and the costs exhibit diminishing marginal gains, i.e., are submodular. Since the costs and the rewards are stochastic, we seek to maximize a risk metric known as Con...
