Congestion-Aware Randomized Routing in Autonomous Mobility-on-Demand   Systems
  In this paper we study the routing and rebalancing problem for a fleet of autonomous vehicles providing on-demand transportation within a congested urban road network (that is, a road network where traffic speed depends on vehicle density). We show that the congestion-free routing and rebalancing problem is NP-hard and provide a randomized algorithm which finds a low-congestion solution to the routing and rebalancing problem that approximately minimizes the number of vehicles on the road in polynomial time. We provide theoretical bounds on the probability of violating the congestion constraints; we also characterize the expected number of vehicles required by the solution with a commonly-used empirical congestion model and provide a bound on the approximation factor of the algorithm. Numerical experiments on a realistic road network with real-world customer demands show that our algorithm introduces very small amounts of congestion. The performance of our algorithm in terms of travel times and required number of vehicles is very close to (and sometimes better than) the optimal congestion-free solution. 
Federico Rossi and Rick Zhang and Marco Pavone
cs.SY