This paper presents a novel algorithm for path planning of point robots in 2D known environment, using binary integer programming. In this approach the problem of path planning is formulated as a ...

Abstract: This paper presents a novel algorithm for path planning of point robots in 2D known environment, using binary integer programming. In this approach the problem of path planning is formulated ...

2.2 Mixed-integer program formulation Before we formulate the ALP as an MILP and explain the choice of constraints, let us first introduce two sets of binary (decision) variables needed for our model.

A timetabling problem is formulated as a large integer linear programming problem in 0-1 variables. A solution method based on Lagrangean relaxation coupled with subgradient optimization is presented.

A timetabling problem is formulated as a large integer linear programming problem in 0-1 variables. A solution method based on Lagrangean relaxation coupled with subgradient optimization is presented.