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Paper WeD03.5

Abichandani, Pramod (Drexel University), Ford, Gabriel (Drexel University), Benson, Hande (Drexel University), Kam, Moshe (Drexel University)

Mathematical Programming for Multi-Vehicle Motion Planning Problems

Scheduled for presentation during the Regular Session "Modular Robots & Multi-Agent Systems" (WeD03), Wednesday, May 16, 2012, 17:30−17:45, Meeting Room 3 (Mak'to)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on February 24, 2018

Keywords Path Planning for Multiple Mobile Robots or Agents, Motion and Path Planning, Nonholonomic Motion Planning

Abstract

Real world Multi-Vehicle Motion Planning (MVMP) problems require the optimization of suitable performance measures under an array of complex and challenging constraints involving kinematics, dynamics, communication connectivity, target tracking, and collision avoidance. The general MVMP problem can thus be formulated as a mathematical program (MP). In this paper we present a mathematical programming (MP) framework that captures the salient features of the general MVMP problem. To demonstrate the use of this framework for the formulation and solution of MVMP problems, we examine in detail four representative works and summarize several other related works. As MP solution algorithms and associated numerical solvers continue to develop, we anticipate that MP solution techniques will be applied to an increasing number of MVMP problems and that the framework and formulations presented in this paper may serve as a guide for future MVMP research.

 

 

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