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Assisted Path Planning for a UGV-UAV Team Through a Stochastic Network (2312.17340v1)

Published 28 Dec 2023 in cs.RO

Abstract: In this article, we consider a multi-agent path planning problem in a stochastic environment. The environment, which can be an urban road network, is represented by a graph where the travel time for selected road segments (impeded edges) is a random variable because of traffic congestion. An unmanned ground vehicle (UGV) wishes to travel from a starting location to a destination while minimizing the arrival time at the destination. UGV can traverse through an impeded edge but the true travel time is only realized at the end of that edge. This implies that the UGV can potentially get stuck in an impeded edge with high travel time. A support vehicle, such as an unmanned aerial vehicle (UAV) is simultaneously deployed from its starting position to assist the UGV by inspecting and realizing the true cost of impeded edges. With the updated information from UAV, UGV can efficiently reroute its path to the destination. The UGV does not wait at any time until it reaches the destination. The UAV is permitted to terminate its path at any vertex. The goal is then to develop an online algorithm to determine efficient paths for the UGV and the UAV based on the current information so that the UGV reaches the destination in minimum time. We refer to this problem as Stochastic Assisted Path Planning (SAPP). We present Dynamic $k$-Shortest Path Planning (D*KSPP) algorithm for the UGV planning and Rural Postman Problem (RPP) formulation for the UAV planning. Due to the scalability challenges of RPP, we also present a heuristic based Priority Assignment Algorithm (PAA) for the UAV planning. Computational results are presented to corroborate the effectiveness of the proposed algorithm to solve SAPP.

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References (18)
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[2016] Li, J., Deng, G., Luo, C., Lin, Q., Yan, Q., Ming, Z.: A hybrid path planning method in unmanned air/ground vehicle (uav/ugv) cooperative systems. IEEE Transactions on Vehicular Technology 65(12), 9585–9596 (2016) Garcia and Casbeer [2017] Garcia, E., Casbeer, D.: Coordinated threat assignments and mission management of unmanned aerial vehicles. Cooperative Control of Multi-Agent Systems: Theory and Applications, 141 (2017) Kitano et al. [1999] Kitano, H., Tadokoro, S., Noda, I., Matsubara, H., Takahashi, T., Shinjou, A., Shimada, S.: Robocup rescue: Search and rescue in large-scale disasters as a domain for autonomous agents research. In: IEEE SMC’99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No. 99CH37028), vol. 6, pp. 739–743 (1999). IEEE Berger and Lo [2015] Berger, J., Lo, N.: An innovative multi-agent search-and-rescue path planning approach. Computers & Operations Research 53, 24–31 (2015) Bhadoriya et al. [2023] Bhadoriya, A.S., Montez, C.M., Rathinam, S., Darbha, S., Casbeer, D.W., Manyam, S.G.: Optimal path planning for a convoy-support vehicle pair through a repairable network. IEEE Transactions on Automation Science and Engineering (2023) Sundar et al. [2017] Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) De Wilde, B., Ter Mors, A.W., Witteveen, C.: Push and rotate: cooperative multi-agent path planning. In: Proceedings of the 2013 International Conference on Autonomous Agents and Multi-agent Systems, pp. 87–94 (2013) Dalmasso et al. [2021] Dalmasso, M., Garrell, A., Domínguez, J.E., Jiménez, P., Sanfeliu, A.: Human-robot collaborative multi-agent path planning using monte carlo tree search and social reward sources. In: 2021 IEEE International Conference on Robotics and Automation (ICRA), pp. 10133–10138 (2021). IEEE Parker [1994] Parker, L.: Heterogeneous multi-robot cooperation. PhD thesis, MIT (1994) Donald et al. [1994] Donald, B., Jennings, J., Rus, D.: Analyzing teams of cooperating mobile robots. Proceedings of the 1994 IEEE International Conference on Robotics and Automation 3, 1896–1903 (1994) Li et al. [2016] Li, J., Deng, G., Luo, C., Lin, Q., Yan, Q., Ming, Z.: A hybrid path planning method in unmanned air/ground vehicle (uav/ugv) cooperative systems. IEEE Transactions on Vehicular Technology 65(12), 9585–9596 (2016) Garcia and Casbeer [2017] Garcia, E., Casbeer, D.: Coordinated threat assignments and mission management of unmanned aerial vehicles. Cooperative Control of Multi-Agent Systems: Theory and Applications, 141 (2017) Kitano et al. [1999] Kitano, H., Tadokoro, S., Noda, I., Matsubara, H., Takahashi, T., Shinjou, A., Shimada, S.: Robocup rescue: Search and rescue in large-scale disasters as a domain for autonomous agents research. In: IEEE SMC’99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No. 99CH37028), vol. 6, pp. 739–743 (1999). IEEE Berger and Lo [2015] Berger, J., Lo, N.: An innovative multi-agent search-and-rescue path planning approach. Computers & Operations Research 53, 24–31 (2015) Bhadoriya et al. [2023] Bhadoriya, A.S., Montez, C.M., Rathinam, S., Darbha, S., Casbeer, D.W., Manyam, S.G.: Optimal path planning for a convoy-support vehicle pair through a repairable network. IEEE Transactions on Automation Science and Engineering (2023) Sundar et al. [2017] Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Dalmasso, M., Garrell, A., Domínguez, J.E., Jiménez, P., Sanfeliu, A.: Human-robot collaborative multi-agent path planning using monte carlo tree search and social reward sources. In: 2021 IEEE International Conference on Robotics and Automation (ICRA), pp. 10133–10138 (2021). IEEE Parker [1994] Parker, L.: Heterogeneous multi-robot cooperation. PhD thesis, MIT (1994) Donald et al. [1994] Donald, B., Jennings, J., Rus, D.: Analyzing teams of cooperating mobile robots. Proceedings of the 1994 IEEE International Conference on Robotics and Automation 3, 1896–1903 (1994) Li et al. [2016] Li, J., Deng, G., Luo, C., Lin, Q., Yan, Q., Ming, Z.: A hybrid path planning method in unmanned air/ground vehicle (uav/ugv) cooperative systems. IEEE Transactions on Vehicular Technology 65(12), 9585–9596 (2016) Garcia and Casbeer [2017] Garcia, E., Casbeer, D.: Coordinated threat assignments and mission management of unmanned aerial vehicles. Cooperative Control of Multi-Agent Systems: Theory and Applications, 141 (2017) Kitano et al. [1999] Kitano, H., Tadokoro, S., Noda, I., Matsubara, H., Takahashi, T., Shinjou, A., Shimada, S.: Robocup rescue: Search and rescue in large-scale disasters as a domain for autonomous agents research. In: IEEE SMC’99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No. 99CH37028), vol. 6, pp. 739–743 (1999). IEEE Berger and Lo [2015] Berger, J., Lo, N.: An innovative multi-agent search-and-rescue path planning approach. Computers & Operations Research 53, 24–31 (2015) Bhadoriya et al. [2023] Bhadoriya, A.S., Montez, C.M., Rathinam, S., Darbha, S., Casbeer, D.W., Manyam, S.G.: Optimal path planning for a convoy-support vehicle pair through a repairable network. IEEE Transactions on Automation Science and Engineering (2023) Sundar et al. [2017] Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Parker, L.: Heterogeneous multi-robot cooperation. PhD thesis, MIT (1994) Donald et al. [1994] Donald, B., Jennings, J., Rus, D.: Analyzing teams of cooperating mobile robots. Proceedings of the 1994 IEEE International Conference on Robotics and Automation 3, 1896–1903 (1994) Li et al. [2016] Li, J., Deng, G., Luo, C., Lin, Q., Yan, Q., Ming, Z.: A hybrid path planning method in unmanned air/ground vehicle (uav/ugv) cooperative systems. IEEE Transactions on Vehicular Technology 65(12), 9585–9596 (2016) Garcia and Casbeer [2017] Garcia, E., Casbeer, D.: Coordinated threat assignments and mission management of unmanned aerial vehicles. Cooperative Control of Multi-Agent Systems: Theory and Applications, 141 (2017) Kitano et al. [1999] Kitano, H., Tadokoro, S., Noda, I., Matsubara, H., Takahashi, T., Shinjou, A., Shimada, S.: Robocup rescue: Search and rescue in large-scale disasters as a domain for autonomous agents research. In: IEEE SMC’99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No. 99CH37028), vol. 6, pp. 739–743 (1999). IEEE Berger and Lo [2015] Berger, J., Lo, N.: An innovative multi-agent search-and-rescue path planning approach. Computers & Operations Research 53, 24–31 (2015) Bhadoriya et al. [2023] Bhadoriya, A.S., Montez, C.M., Rathinam, S., Darbha, S., Casbeer, D.W., Manyam, S.G.: Optimal path planning for a convoy-support vehicle pair through a repairable network. IEEE Transactions on Automation Science and Engineering (2023) Sundar et al. [2017] Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Donald, B., Jennings, J., Rus, D.: Analyzing teams of cooperating mobile robots. Proceedings of the 1994 IEEE International Conference on Robotics and Automation 3, 1896–1903 (1994) Li et al. [2016] Li, J., Deng, G., Luo, C., Lin, Q., Yan, Q., Ming, Z.: A hybrid path planning method in unmanned air/ground vehicle (uav/ugv) cooperative systems. IEEE Transactions on Vehicular Technology 65(12), 9585–9596 (2016) Garcia and Casbeer [2017] Garcia, E., Casbeer, D.: Coordinated threat assignments and mission management of unmanned aerial vehicles. Cooperative Control of Multi-Agent Systems: Theory and Applications, 141 (2017) Kitano et al. [1999] Kitano, H., Tadokoro, S., Noda, I., Matsubara, H., Takahashi, T., Shinjou, A., Shimada, S.: Robocup rescue: Search and rescue in large-scale disasters as a domain for autonomous agents research. In: IEEE SMC’99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No. 99CH37028), vol. 6, pp. 739–743 (1999). IEEE Berger and Lo [2015] Berger, J., Lo, N.: An innovative multi-agent search-and-rescue path planning approach. Computers & Operations Research 53, 24–31 (2015) Bhadoriya et al. [2023] Bhadoriya, A.S., Montez, C.M., Rathinam, S., Darbha, S., Casbeer, D.W., Manyam, S.G.: Optimal path planning for a convoy-support vehicle pair through a repairable network. IEEE Transactions on Automation Science and Engineering (2023) Sundar et al. [2017] Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Li, J., Deng, G., Luo, C., Lin, Q., Yan, Q., Ming, Z.: A hybrid path planning method in unmanned air/ground vehicle (uav/ugv) cooperative systems. IEEE Transactions on Vehicular Technology 65(12), 9585–9596 (2016) Garcia and Casbeer [2017] Garcia, E., Casbeer, D.: Coordinated threat assignments and mission management of unmanned aerial vehicles. Cooperative Control of Multi-Agent Systems: Theory and Applications, 141 (2017) Kitano et al. [1999] Kitano, H., Tadokoro, S., Noda, I., Matsubara, H., Takahashi, T., Shinjou, A., Shimada, S.: Robocup rescue: Search and rescue in large-scale disasters as a domain for autonomous agents research. In: IEEE SMC’99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No. 99CH37028), vol. 6, pp. 739–743 (1999). IEEE Berger and Lo [2015] Berger, J., Lo, N.: An innovative multi-agent search-and-rescue path planning approach. Computers & Operations Research 53, 24–31 (2015) Bhadoriya et al. [2023] Bhadoriya, A.S., Montez, C.M., Rathinam, S., Darbha, S., Casbeer, D.W., Manyam, S.G.: Optimal path planning for a convoy-support vehicle pair through a repairable network. IEEE Transactions on Automation Science and Engineering (2023) Sundar et al. [2017] Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Garcia, E., Casbeer, D.: Coordinated threat assignments and mission management of unmanned aerial vehicles. Cooperative Control of Multi-Agent Systems: Theory and Applications, 141 (2017) Kitano et al. [1999] Kitano, H., Tadokoro, S., Noda, I., Matsubara, H., Takahashi, T., Shinjou, A., Shimada, S.: Robocup rescue: Search and rescue in large-scale disasters as a domain for autonomous agents research. In: IEEE SMC’99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No. 99CH37028), vol. 6, pp. 739–743 (1999). IEEE Berger and Lo [2015] Berger, J., Lo, N.: An innovative multi-agent search-and-rescue path planning approach. Computers & Operations Research 53, 24–31 (2015) Bhadoriya et al. [2023] Bhadoriya, A.S., Montez, C.M., Rathinam, S., Darbha, S., Casbeer, D.W., Manyam, S.G.: Optimal path planning for a convoy-support vehicle pair through a repairable network. IEEE Transactions on Automation Science and Engineering (2023) Sundar et al. [2017] Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Kitano, H., Tadokoro, S., Noda, I., Matsubara, H., Takahashi, T., Shinjou, A., Shimada, S.: Robocup rescue: Search and rescue in large-scale disasters as a domain for autonomous agents research. In: IEEE SMC’99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No. 99CH37028), vol. 6, pp. 739–743 (1999). IEEE Berger and Lo [2015] Berger, J., Lo, N.: An innovative multi-agent search-and-rescue path planning approach. Computers & Operations Research 53, 24–31 (2015) Bhadoriya et al. [2023] Bhadoriya, A.S., Montez, C.M., Rathinam, S., Darbha, S., Casbeer, D.W., Manyam, S.G.: Optimal path planning for a convoy-support vehicle pair through a repairable network. IEEE Transactions on Automation Science and Engineering (2023) Sundar et al. [2017] Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Berger, J., Lo, N.: An innovative multi-agent search-and-rescue path planning approach. Computers & Operations Research 53, 24–31 (2015) Bhadoriya et al. [2023] Bhadoriya, A.S., Montez, C.M., Rathinam, S., Darbha, S., Casbeer, D.W., Manyam, S.G.: Optimal path planning for a convoy-support vehicle pair through a repairable network. IEEE Transactions on Automation Science and Engineering (2023) Sundar et al. [2017] Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. 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IEEE Transactions on Automation Science and Engineering (2023) Sundar et al. [2017] Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. 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In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Parker, L.: Heterogeneous multi-robot cooperation. PhD thesis, MIT (1994) Donald et al. [1994] Donald, B., Jennings, J., Rus, D.: Analyzing teams of cooperating mobile robots. Proceedings of the 1994 IEEE International Conference on Robotics and Automation 3, 1896–1903 (1994) Li et al. [2016] Li, J., Deng, G., Luo, C., Lin, Q., Yan, Q., Ming, Z.: A hybrid path planning method in unmanned air/ground vehicle (uav/ugv) cooperative systems. IEEE Transactions on Vehicular Technology 65(12), 9585–9596 (2016) Garcia and Casbeer [2017] Garcia, E., Casbeer, D.: Coordinated threat assignments and mission management of unmanned aerial vehicles. Cooperative Control of Multi-Agent Systems: Theory and Applications, 141 (2017) Kitano et al. [1999] Kitano, H., Tadokoro, S., Noda, I., Matsubara, H., Takahashi, T., Shinjou, A., Shimada, S.: Robocup rescue: Search and rescue in large-scale disasters as a domain for autonomous agents research. In: IEEE SMC’99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No. 99CH37028), vol. 6, pp. 739–743 (1999). IEEE Berger and Lo [2015] Berger, J., Lo, N.: An innovative multi-agent search-and-rescue path planning approach. Computers & Operations Research 53, 24–31 (2015) Bhadoriya et al. [2023] Bhadoriya, A.S., Montez, C.M., Rathinam, S., Darbha, S., Casbeer, D.W., Manyam, S.G.: Optimal path planning for a convoy-support vehicle pair through a repairable network. IEEE Transactions on Automation Science and Engineering (2023) Sundar et al. [2017] Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Donald, B., Jennings, J., Rus, D.: Analyzing teams of cooperating mobile robots. Proceedings of the 1994 IEEE International Conference on Robotics and Automation 3, 1896–1903 (1994) Li et al. [2016] Li, J., Deng, G., Luo, C., Lin, Q., Yan, Q., Ming, Z.: A hybrid path planning method in unmanned air/ground vehicle (uav/ugv) cooperative systems. IEEE Transactions on Vehicular Technology 65(12), 9585–9596 (2016) Garcia and Casbeer [2017] Garcia, E., Casbeer, D.: Coordinated threat assignments and mission management of unmanned aerial vehicles. Cooperative Control of Multi-Agent Systems: Theory and Applications, 141 (2017) Kitano et al. [1999] Kitano, H., Tadokoro, S., Noda, I., Matsubara, H., Takahashi, T., Shinjou, A., Shimada, S.: Robocup rescue: Search and rescue in large-scale disasters as a domain for autonomous agents research. In: IEEE SMC’99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No. 99CH37028), vol. 6, pp. 739–743 (1999). IEEE Berger and Lo [2015] Berger, J., Lo, N.: An innovative multi-agent search-and-rescue path planning approach. Computers & Operations Research 53, 24–31 (2015) Bhadoriya et al. [2023] Bhadoriya, A.S., Montez, C.M., Rathinam, S., Darbha, S., Casbeer, D.W., Manyam, S.G.: Optimal path planning for a convoy-support vehicle pair through a repairable network. IEEE Transactions on Automation Science and Engineering (2023) Sundar et al. [2017] Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Li, J., Deng, G., Luo, C., Lin, Q., Yan, Q., Ming, Z.: A hybrid path planning method in unmanned air/ground vehicle (uav/ugv) cooperative systems. IEEE Transactions on Vehicular Technology 65(12), 9585–9596 (2016) Garcia and Casbeer [2017] Garcia, E., Casbeer, D.: Coordinated threat assignments and mission management of unmanned aerial vehicles. Cooperative Control of Multi-Agent Systems: Theory and Applications, 141 (2017) Kitano et al. [1999] Kitano, H., Tadokoro, S., Noda, I., Matsubara, H., Takahashi, T., Shinjou, A., Shimada, S.: Robocup rescue: Search and rescue in large-scale disasters as a domain for autonomous agents research. In: IEEE SMC’99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No. 99CH37028), vol. 6, pp. 739–743 (1999). IEEE Berger and Lo [2015] Berger, J., Lo, N.: An innovative multi-agent search-and-rescue path planning approach. Computers & Operations Research 53, 24–31 (2015) Bhadoriya et al. [2023] Bhadoriya, A.S., Montez, C.M., Rathinam, S., Darbha, S., Casbeer, D.W., Manyam, S.G.: Optimal path planning for a convoy-support vehicle pair through a repairable network. IEEE Transactions on Automation Science and Engineering (2023) Sundar et al. [2017] Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. 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[1999] Kitano, H., Tadokoro, S., Noda, I., Matsubara, H., Takahashi, T., Shinjou, A., Shimada, S.: Robocup rescue: Search and rescue in large-scale disasters as a domain for autonomous agents research. In: IEEE SMC’99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No. 99CH37028), vol. 6, pp. 739–743 (1999). IEEE Berger and Lo [2015] Berger, J., Lo, N.: An innovative multi-agent search-and-rescue path planning approach. Computers & Operations Research 53, 24–31 (2015) Bhadoriya et al. [2023] Bhadoriya, A.S., Montez, C.M., Rathinam, S., Darbha, S., Casbeer, D.W., Manyam, S.G.: Optimal path planning for a convoy-support vehicle pair through a repairable network. IEEE Transactions on Automation Science and Engineering (2023) Sundar et al. [2017] Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Kitano, H., Tadokoro, S., Noda, I., Matsubara, H., Takahashi, T., Shinjou, A., Shimada, S.: Robocup rescue: Search and rescue in large-scale disasters as a domain for autonomous agents research. In: IEEE SMC’99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No. 99CH37028), vol. 6, pp. 739–743 (1999). IEEE Berger and Lo [2015] Berger, J., Lo, N.: An innovative multi-agent search-and-rescue path planning approach. Computers & Operations Research 53, 24–31 (2015) Bhadoriya et al. [2023] Bhadoriya, A.S., Montez, C.M., Rathinam, S., Darbha, S., Casbeer, D.W., Manyam, S.G.: Optimal path planning for a convoy-support vehicle pair through a repairable network. IEEE Transactions on Automation Science and Engineering (2023) Sundar et al. [2017] Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Berger, J., Lo, N.: An innovative multi-agent search-and-rescue path planning approach. Computers & Operations Research 53, 24–31 (2015) Bhadoriya et al. [2023] Bhadoriya, A.S., Montez, C.M., Rathinam, S., Darbha, S., Casbeer, D.W., Manyam, S.G.: Optimal path planning for a convoy-support vehicle pair through a repairable network. IEEE Transactions on Automation Science and Engineering (2023) Sundar et al. [2017] Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Bhadoriya, A.S., Montez, C.M., Rathinam, S., Darbha, S., Casbeer, D.W., Manyam, S.G.: Optimal path planning for a convoy-support vehicle pair through a repairable network. IEEE Transactions on Automation Science and Engineering (2023) Sundar et al. [2017] Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. 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Cooperative Control of Multi-Agent Systems: Theory and Applications, 141 (2017) Kitano et al. [1999] Kitano, H., Tadokoro, S., Noda, I., Matsubara, H., Takahashi, T., Shinjou, A., Shimada, S.: Robocup rescue: Search and rescue in large-scale disasters as a domain for autonomous agents research. In: IEEE SMC’99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No. 99CH37028), vol. 6, pp. 739–743 (1999). IEEE Berger and Lo [2015] Berger, J., Lo, N.: An innovative multi-agent search-and-rescue path planning approach. Computers & Operations Research 53, 24–31 (2015) Bhadoriya et al. [2023] Bhadoriya, A.S., Montez, C.M., Rathinam, S., Darbha, S., Casbeer, D.W., Manyam, S.G.: Optimal path planning for a convoy-support vehicle pair through a repairable network. IEEE Transactions on Automation Science and Engineering (2023) Sundar et al. [2017] Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Parker, L.: Heterogeneous multi-robot cooperation. PhD thesis, MIT (1994) Donald et al. [1994] Donald, B., Jennings, J., Rus, D.: Analyzing teams of cooperating mobile robots. Proceedings of the 1994 IEEE International Conference on Robotics and Automation 3, 1896–1903 (1994) Li et al. [2016] Li, J., Deng, G., Luo, C., Lin, Q., Yan, Q., Ming, Z.: A hybrid path planning method in unmanned air/ground vehicle (uav/ugv) cooperative systems. IEEE Transactions on Vehicular Technology 65(12), 9585–9596 (2016) Garcia and Casbeer [2017] Garcia, E., Casbeer, D.: Coordinated threat assignments and mission management of unmanned aerial vehicles. Cooperative Control of Multi-Agent Systems: Theory and Applications, 141 (2017) Kitano et al. [1999] Kitano, H., Tadokoro, S., Noda, I., Matsubara, H., Takahashi, T., Shinjou, A., Shimada, S.: Robocup rescue: Search and rescue in large-scale disasters as a domain for autonomous agents research. In: IEEE SMC’99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No. 99CH37028), vol. 6, pp. 739–743 (1999). IEEE Berger and Lo [2015] Berger, J., Lo, N.: An innovative multi-agent search-and-rescue path planning approach. Computers & Operations Research 53, 24–31 (2015) Bhadoriya et al. [2023] Bhadoriya, A.S., Montez, C.M., Rathinam, S., Darbha, S., Casbeer, D.W., Manyam, S.G.: Optimal path planning for a convoy-support vehicle pair through a repairable network. IEEE Transactions on Automation Science and Engineering (2023) Sundar et al. [2017] Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Donald, B., Jennings, J., Rus, D.: Analyzing teams of cooperating mobile robots. Proceedings of the 1994 IEEE International Conference on Robotics and Automation 3, 1896–1903 (1994) Li et al. [2016] Li, J., Deng, G., Luo, C., Lin, Q., Yan, Q., Ming, Z.: A hybrid path planning method in unmanned air/ground vehicle (uav/ugv) cooperative systems. IEEE Transactions on Vehicular Technology 65(12), 9585–9596 (2016) Garcia and Casbeer [2017] Garcia, E., Casbeer, D.: Coordinated threat assignments and mission management of unmanned aerial vehicles. Cooperative Control of Multi-Agent Systems: Theory and Applications, 141 (2017) Kitano et al. [1999] Kitano, H., Tadokoro, S., Noda, I., Matsubara, H., Takahashi, T., Shinjou, A., Shimada, S.: Robocup rescue: Search and rescue in large-scale disasters as a domain for autonomous agents research. In: IEEE SMC’99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No. 99CH37028), vol. 6, pp. 739–743 (1999). IEEE Berger and Lo [2015] Berger, J., Lo, N.: An innovative multi-agent search-and-rescue path planning approach. Computers & Operations Research 53, 24–31 (2015) Bhadoriya et al. [2023] Bhadoriya, A.S., Montez, C.M., Rathinam, S., Darbha, S., Casbeer, D.W., Manyam, S.G.: Optimal path planning for a convoy-support vehicle pair through a repairable network. IEEE Transactions on Automation Science and Engineering (2023) Sundar et al. [2017] Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Li, J., Deng, G., Luo, C., Lin, Q., Yan, Q., Ming, Z.: A hybrid path planning method in unmanned air/ground vehicle (uav/ugv) cooperative systems. IEEE Transactions on Vehicular Technology 65(12), 9585–9596 (2016) Garcia and Casbeer [2017] Garcia, E., Casbeer, D.: Coordinated threat assignments and mission management of unmanned aerial vehicles. Cooperative Control of Multi-Agent Systems: Theory and Applications, 141 (2017) Kitano et al. [1999] Kitano, H., Tadokoro, S., Noda, I., Matsubara, H., Takahashi, T., Shinjou, A., Shimada, S.: Robocup rescue: Search and rescue in large-scale disasters as a domain for autonomous agents research. In: IEEE SMC’99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No. 99CH37028), vol. 6, pp. 739–743 (1999). IEEE Berger and Lo [2015] Berger, J., Lo, N.: An innovative multi-agent search-and-rescue path planning approach. Computers & Operations Research 53, 24–31 (2015) Bhadoriya et al. [2023] Bhadoriya, A.S., Montez, C.M., Rathinam, S., Darbha, S., Casbeer, D.W., Manyam, S.G.: Optimal path planning for a convoy-support vehicle pair through a repairable network. IEEE Transactions on Automation Science and Engineering (2023) Sundar et al. [2017] Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. 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[1999] Kitano, H., Tadokoro, S., Noda, I., Matsubara, H., Takahashi, T., Shinjou, A., Shimada, S.: Robocup rescue: Search and rescue in large-scale disasters as a domain for autonomous agents research. In: IEEE SMC’99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No. 99CH37028), vol. 6, pp. 739–743 (1999). IEEE Berger and Lo [2015] Berger, J., Lo, N.: An innovative multi-agent search-and-rescue path planning approach. Computers & Operations Research 53, 24–31 (2015) Bhadoriya et al. [2023] Bhadoriya, A.S., Montez, C.M., Rathinam, S., Darbha, S., Casbeer, D.W., Manyam, S.G.: Optimal path planning for a convoy-support vehicle pair through a repairable network. IEEE Transactions on Automation Science and Engineering (2023) Sundar et al. [2017] Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Kitano, H., Tadokoro, S., Noda, I., Matsubara, H., Takahashi, T., Shinjou, A., Shimada, S.: Robocup rescue: Search and rescue in large-scale disasters as a domain for autonomous agents research. In: IEEE SMC’99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No. 99CH37028), vol. 6, pp. 739–743 (1999). IEEE Berger and Lo [2015] Berger, J., Lo, N.: An innovative multi-agent search-and-rescue path planning approach. Computers & Operations Research 53, 24–31 (2015) Bhadoriya et al. [2023] Bhadoriya, A.S., Montez, C.M., Rathinam, S., Darbha, S., Casbeer, D.W., Manyam, S.G.: Optimal path planning for a convoy-support vehicle pair through a repairable network. IEEE Transactions on Automation Science and Engineering (2023) Sundar et al. [2017] Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Berger, J., Lo, N.: An innovative multi-agent search-and-rescue path planning approach. Computers & Operations Research 53, 24–31 (2015) Bhadoriya et al. [2023] Bhadoriya, A.S., Montez, C.M., Rathinam, S., Darbha, S., Casbeer, D.W., Manyam, S.G.: Optimal path planning for a convoy-support vehicle pair through a repairable network. IEEE Transactions on Automation Science and Engineering (2023) Sundar et al. [2017] Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Bhadoriya, A.S., Montez, C.M., Rathinam, S., Darbha, S., Casbeer, D.W., Manyam, S.G.: Optimal path planning for a convoy-support vehicle pair through a repairable network. IEEE Transactions on Automation Science and Engineering (2023) Sundar et al. [2017] Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017)
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In: IEEE SMC’99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No. 99CH37028), vol. 6, pp. 739–743 (1999). IEEE Berger and Lo [2015] Berger, J., Lo, N.: An innovative multi-agent search-and-rescue path planning approach. Computers & Operations Research 53, 24–31 (2015) Bhadoriya et al. [2023] Bhadoriya, A.S., Montez, C.M., Rathinam, S., Darbha, S., Casbeer, D.W., Manyam, S.G.: Optimal path planning for a convoy-support vehicle pair through a repairable network. IEEE Transactions on Automation Science and Engineering (2023) Sundar et al. [2017] Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. 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[1999] Kitano, H., Tadokoro, S., Noda, I., Matsubara, H., Takahashi, T., Shinjou, A., Shimada, S.: Robocup rescue: Search and rescue in large-scale disasters as a domain for autonomous agents research. In: IEEE SMC’99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No. 99CH37028), vol. 6, pp. 739–743 (1999). IEEE Berger and Lo [2015] Berger, J., Lo, N.: An innovative multi-agent search-and-rescue path planning approach. Computers & Operations Research 53, 24–31 (2015) Bhadoriya et al. [2023] Bhadoriya, A.S., Montez, C.M., Rathinam, S., Darbha, S., Casbeer, D.W., Manyam, S.G.: Optimal path planning for a convoy-support vehicle pair through a repairable network. IEEE Transactions on Automation Science and Engineering (2023) Sundar et al. [2017] Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Li, J., Deng, G., Luo, C., Lin, Q., Yan, Q., Ming, Z.: A hybrid path planning method in unmanned air/ground vehicle (uav/ugv) cooperative systems. IEEE Transactions on Vehicular Technology 65(12), 9585–9596 (2016) Garcia and Casbeer [2017] Garcia, E., Casbeer, D.: Coordinated threat assignments and mission management of unmanned aerial vehicles. Cooperative Control of Multi-Agent Systems: Theory and Applications, 141 (2017) Kitano et al. 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In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. 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[2017] Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. 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Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Garcia, E., Casbeer, D.: Coordinated threat assignments and mission management of unmanned aerial vehicles. Cooperative Control of Multi-Agent Systems: Theory and Applications, 141 (2017) Kitano et al. [1999] Kitano, H., Tadokoro, S., Noda, I., Matsubara, H., Takahashi, T., Shinjou, A., Shimada, S.: Robocup rescue: Search and rescue in large-scale disasters as a domain for autonomous agents research. In: IEEE SMC’99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No. 99CH37028), vol. 6, pp. 739–743 (1999). IEEE Berger and Lo [2015] Berger, J., Lo, N.: An innovative multi-agent search-and-rescue path planning approach. Computers & Operations Research 53, 24–31 (2015) Bhadoriya et al. 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In: IEEE SMC’99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No. 99CH37028), vol. 6, pp. 739–743 (1999). IEEE Berger and Lo [2015] Berger, J., Lo, N.: An innovative multi-agent search-and-rescue path planning approach. Computers & Operations Research 53, 24–31 (2015) Bhadoriya et al. [2023] Bhadoriya, A.S., Montez, C.M., Rathinam, S., Darbha, S., Casbeer, D.W., Manyam, S.G.: Optimal path planning for a convoy-support vehicle pair through a repairable network. IEEE Transactions on Automation Science and Engineering (2023) Sundar et al. [2017] Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. 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Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Bhadoriya, A.S., Montez, C.M., Rathinam, S., Darbha, S., Casbeer, D.W., Manyam, S.G.: Optimal path planning for a convoy-support vehicle pair through a repairable network. IEEE Transactions on Automation Science and Engineering (2023) Sundar et al. [2017] Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. 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[2023] Bhadoriya, A.S., Montez, C.M., Rathinam, S., Darbha, S., Casbeer, D.W., Manyam, S.G.: Optimal path planning for a convoy-support vehicle pair through a repairable network. IEEE Transactions on Automation Science and Engineering (2023) Sundar et al. [2017] Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. 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In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Kitano, H., Tadokoro, S., Noda, I., Matsubara, H., Takahashi, T., Shinjou, A., Shimada, S.: Robocup rescue: Search and rescue in large-scale disasters as a domain for autonomous agents research. In: IEEE SMC’99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No. 99CH37028), vol. 6, pp. 739–743 (1999). IEEE Berger and Lo [2015] Berger, J., Lo, N.: An innovative multi-agent search-and-rescue path planning approach. Computers & Operations Research 53, 24–31 (2015) Bhadoriya et al. [2023] Bhadoriya, A.S., Montez, C.M., Rathinam, S., Darbha, S., Casbeer, D.W., Manyam, S.G.: Optimal path planning for a convoy-support vehicle pair through a repairable network. IEEE Transactions on Automation Science and Engineering (2023) Sundar et al. [2017] Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. 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[2023] Bhadoriya, A.S., Montez, C.M., Rathinam, S., Darbha, S., Casbeer, D.W., Manyam, S.G.: Optimal path planning for a convoy-support vehicle pair through a repairable network. IEEE Transactions on Automation Science and Engineering (2023) Sundar et al. [2017] Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Bhadoriya, A.S., Montez, C.M., Rathinam, S., Darbha, S., Casbeer, D.W., Manyam, S.G.: Optimal path planning for a convoy-support vehicle pair through a repairable network. IEEE Transactions on Automation Science and Engineering (2023) Sundar et al. [2017] Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017)
  7. Garcia, E., Casbeer, D.: Coordinated threat assignments and mission management of unmanned aerial vehicles. Cooperative Control of Multi-Agent Systems: Theory and Applications, 141 (2017) Kitano et al. [1999] Kitano, H., Tadokoro, S., Noda, I., Matsubara, H., Takahashi, T., Shinjou, A., Shimada, S.: Robocup rescue: Search and rescue in large-scale disasters as a domain for autonomous agents research. In: IEEE SMC’99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No. 99CH37028), vol. 6, pp. 739–743 (1999). IEEE Berger and Lo [2015] Berger, J., Lo, N.: An innovative multi-agent search-and-rescue path planning approach. Computers & Operations Research 53, 24–31 (2015) Bhadoriya et al. [2023] Bhadoriya, A.S., Montez, C.M., Rathinam, S., Darbha, S., Casbeer, D.W., Manyam, S.G.: Optimal path planning for a convoy-support vehicle pair through a repairable network. IEEE Transactions on Automation Science and Engineering (2023) Sundar et al. [2017] Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Kitano, H., Tadokoro, S., Noda, I., Matsubara, H., Takahashi, T., Shinjou, A., Shimada, S.: Robocup rescue: Search and rescue in large-scale disasters as a domain for autonomous agents research. In: IEEE SMC’99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No. 99CH37028), vol. 6, pp. 739–743 (1999). IEEE Berger and Lo [2015] Berger, J., Lo, N.: An innovative multi-agent search-and-rescue path planning approach. Computers & Operations Research 53, 24–31 (2015) Bhadoriya et al. [2023] Bhadoriya, A.S., Montez, C.M., Rathinam, S., Darbha, S., Casbeer, D.W., Manyam, S.G.: Optimal path planning for a convoy-support vehicle pair through a repairable network. IEEE Transactions on Automation Science and Engineering (2023) Sundar et al. [2017] Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Berger, J., Lo, N.: An innovative multi-agent search-and-rescue path planning approach. Computers & Operations Research 53, 24–31 (2015) Bhadoriya et al. [2023] Bhadoriya, A.S., Montez, C.M., Rathinam, S., Darbha, S., Casbeer, D.W., Manyam, S.G.: Optimal path planning for a convoy-support vehicle pair through a repairable network. IEEE Transactions on Automation Science and Engineering (2023) Sundar et al. [2017] Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Bhadoriya, A.S., Montez, C.M., Rathinam, S., Darbha, S., Casbeer, D.W., Manyam, S.G.: Optimal path planning for a convoy-support vehicle pair through a repairable network. IEEE Transactions on Automation Science and Engineering (2023) Sundar et al. [2017] Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017)
  8. Kitano, H., Tadokoro, S., Noda, I., Matsubara, H., Takahashi, T., Shinjou, A., Shimada, S.: Robocup rescue: Search and rescue in large-scale disasters as a domain for autonomous agents research. In: IEEE SMC’99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No. 99CH37028), vol. 6, pp. 739–743 (1999). IEEE Berger and Lo [2015] Berger, J., Lo, N.: An innovative multi-agent search-and-rescue path planning approach. Computers & Operations Research 53, 24–31 (2015) Bhadoriya et al. [2023] Bhadoriya, A.S., Montez, C.M., Rathinam, S., Darbha, S., Casbeer, D.W., Manyam, S.G.: Optimal path planning for a convoy-support vehicle pair through a repairable network. IEEE Transactions on Automation Science and Engineering (2023) Sundar et al. [2017] Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Berger, J., Lo, N.: An innovative multi-agent search-and-rescue path planning approach. Computers & Operations Research 53, 24–31 (2015) Bhadoriya et al. [2023] Bhadoriya, A.S., Montez, C.M., Rathinam, S., Darbha, S., Casbeer, D.W., Manyam, S.G.: Optimal path planning for a convoy-support vehicle pair through a repairable network. IEEE Transactions on Automation Science and Engineering (2023) Sundar et al. [2017] Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Bhadoriya, A.S., Montez, C.M., Rathinam, S., Darbha, S., Casbeer, D.W., Manyam, S.G.: Optimal path planning for a convoy-support vehicle pair through a repairable network. IEEE Transactions on Automation Science and Engineering (2023) Sundar et al. [2017] Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017)
  9. Berger, J., Lo, N.: An innovative multi-agent search-and-rescue path planning approach. Computers & Operations Research 53, 24–31 (2015) Bhadoriya et al. [2023] Bhadoriya, A.S., Montez, C.M., Rathinam, S., Darbha, S., Casbeer, D.W., Manyam, S.G.: Optimal path planning for a convoy-support vehicle pair through a repairable network. IEEE Transactions on Automation Science and Engineering (2023) Sundar et al. [2017] Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Bhadoriya, A.S., Montez, C.M., Rathinam, S., Darbha, S., Casbeer, D.W., Manyam, S.G.: Optimal path planning for a convoy-support vehicle pair through a repairable network. IEEE Transactions on Automation Science and Engineering (2023) Sundar et al. [2017] Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017)
  10. Bhadoriya, A.S., Montez, C.M., Rathinam, S., Darbha, S., Casbeer, D.W., Manyam, S.G.: Optimal path planning for a convoy-support vehicle pair through a repairable network. IEEE Transactions on Automation Science and Engineering (2023) Sundar et al. [2017] Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017)
  11. Sundar, K., Venkatachalam, S., Manyam, S.G.: Path planning for multiple heterogeneous unmanned vehicles with uncertain service times. In: 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 480–487 (2017). IEEE Chirala et al. [2023] Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017)
  12. Chirala, V.S., Venkatachalam, S., Smereka, J.M.: Uv mission planning under uncertainty in vehicles’ availability. Journal of Intelligent & Robotic Systems 108(2), 26 (2023) Fu et al. [2022] Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017)
  13. Fu, B., Smith, W., Rizzo, D.M., Castanier, M., Ghaffari, M., Barton, K.: Robust task scheduling for heterogeneous robot teams under capability uncertainty. IEEE Transactions on Robotics 39(2), 1087–1105 (2022) Bhadoriya et al. [2023] Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017)
  14. Bhadoriya, A.S., Darbha, S., Rathinam, S., Casbeer, D., Rasmussen, S.J., Manyam, S.G.: Multi-agent assisted shortest path planning using monte carlo tree search. In: AIAA SCITECH 2023 Forum, p. 2655 (2023) Koenig and Likhachev [2002] Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017)
  15. Koenig, S., Likhachev, M.: D* lite. In: Eighteenth National Conference on Artificial Intelligence, pp. 476–483 (2002) Yen [1971] Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017)
  16. Yen, J.Y.: Finding the k shortest loopless paths in a network. management Science 17(11), 712–716 (1971) Monroy-Licht et al. [2014] Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017)
  17. Monroy-Licht, M., Amaya, C.A., Langevin, A.: The rural postman problem with time windows. Networks 64(3), 169–180 (2014) OpenStreetMap contributors [2017] OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017) OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017)
  18. OpenStreetMap contributors: Planet dump retrieved from https://planet.osm.org . https://www.openstreetmap.org (2017)

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