Conference proceeding
Mathematical Programming for Multi-Vehicle Motion Planning Problems
2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), pp 3315-3322
01 Jan 2012
Featured in Collection : UN Sustainable Development Goals @ Drexel
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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Details
- Title
- Mathematical Programming for Multi-Vehicle Motion Planning Problems
- Creators
- Pramod Abichandani - Drexel UniversityGabriel Ford - Drexel UniversityHande Y. Benson - Drexel UniversityMoshe Kam - Drexel UniversityIEEE
- Publication Details
- 2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), pp 3315-3322
- Series
- IEEE International Conference on Robotics and Automation ICRA
- Publisher
- IEEE
- Number of pages
- 8
- Resource Type
- Conference proceeding
- Language
- English
- Academic Unit
- Decision Sciences (and Management Information Systems)
- Web of Science ID
- WOS:000309406703049
- Scopus ID
- 2-s2.0-84864472100
- Other Identifier
- 991019170348104721
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InCites Highlights
Data related to this publication, from InCites Benchmarking & Analytics tool:
- Web of Science research areas
- Automation & Control Systems
- Engineering, Electrical & Electronic
- Robotics