# MCTS Based Dispatch of Autonomous Vehicles under Operational Constraints for Continuous Transportation

arXiv: https://arxiv.org/abs/2407.16200 · HTML: https://mlsanity.com/paper/2407.16200/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 5 of its 16 references that are in the map.
- First posted on arXiv 23 Jul 2024.

## Builds on (most cited first, 5 of 5)

- [Combining Neural Networks and Tree Search for Task and Motion Planning in Challenging Environments](https://mlsanity.com/paper/1703.07887/) (2017)
- [Follow The Rules: Online Signal Temporal Logic Tree Search for Guided Imitation Learning in Stochastic Domains](https://mlsanity.com/paper/2209.13737/) (2022)
- [Fast Decomposition of Temporal Logic Specifications for Heterogeneous Teams](https://mlsanity.com/paper/2010.00030/) (2020)
- [Dynamic Dispatching for Large-Scale Heterogeneous Fleet via Multi-agent Deep Reinforcement Learning](https://mlsanity.com/paper/2008.10713/) (2020)
- [Automation and AI Technology in Surface Mining With a Brief Introduction to Open-Pit Operations in the Pilbara](https://mlsanity.com/paper/2301.09771/) (2023)

## Abstract (arXiv)

Continuous transportation of material in the mining industry is achieved by the dispatch of autonomous haul-trucks with discrete haulage capacities. Recently, Monte Carlo Tree Search (MCTS) was successfully deployed in tackling challenges of long-run optimality, scalability and adaptability in haul-truck dispatch. Typically, operational constraints imposed on the mine site are satisfied by heuristic controllers or human operators independent of the dispatch planning. This article incorporates operational constraint satisfaction into the dispatch planning by utilising the MCTS based dispatch planner Flow-Achieving Scheduling Tree (FAST). Operational constraint violation and satisfaction are modelled as opportunity costs in the combinatorial optimisation problem of dispatch. Explicit cost formulations are avoided by utilising MCTS generator models to derive opportunity costs. Experimental studies with four types of operational constraints demonstrate the success of utilising opportunity costs for constraint satisfaction, and the effectiveness of integrating constraints into dispatch planning.