{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/dynamic-real-time-multimodal-routing-with","title":"Dynamic Real-time Multimodal Routing with Hierarchical Hybrid Planning","arxiv_id":"1902.01560","date":"2019-02-05","proceeding":null,"authors":["Shushman Choudhury","Jacob P. Knickerbocker","Mykel J. Kochenderfer"],"abstract":"We introduce the problem of Dynamic Real-time Multimodal Routing (DREAMR), which requires planning and executing routes under uncertainty for an autonomous agent. The agent has access to a time-varying transit vehicle network in which it can use multiple modes of transportation. For instance, a drone can either fly or ride on terrain vehicles for segments of their routes. DREAMR is a difficult problem of sequential decision making under uncertainty with both discrete and continuous variables. We design a novel hierarchical hybrid planning framework to solve the DREAMR problem that exploits its structural decomposability. Our framework consists of a global open-loop planning layer that invokes and monitors a local closed-loop execution layer. Additional abstractions allow efficient and seamless interleaving of planning and execution. We create a large-scale simulation for DREAMR problems, with each scenario having hundreds of transportation routes and thousands of connection points. Our algorithmic framework significantly outperforms a receding horizon control baseline, in terms of elapsed time to reach the destination and energy expended by the agent.","url_abs":"https://arxiv.org/abs/1902.01560v2","url_pdf":"https://arxiv.org/pdf/1902.01560v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"dynamic-real-time-multimodal-routing-with","repo_url":"https://github.com/sisl/DreamrHHP","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[{"task_slug":"decision-making","task_name":"Decision Making"},{"task_slug":"decision-making-under-uncertainty","task_name":"Decision Making Under Uncertainty"},{"task_slug":"sequential-decision-making","task_name":"Sequential Decision Making"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}