NDLI: Mathematical programming for Multi-Vehicle Motion Planning problems

Content Provider	IEEE Xplore Digital Library
Author	Abichandani, P. Ford, G. Benson, H.Y. Kam, M.
Copyright Year	2012
Description	Author affiliation: College of Engineering, Drexel University, Philadelphia, PA 19104, USA (Abichandani, P.) \|\| Decision Sciences Department, Drexel University, Philadelphia, PA 19104, USA (Benson, H.Y.) \|\| Data Fusion Laboratory, Electrical and Computer Engineering Department, Drexel University, Philadelphia, PA 19104, USA (Ford, G.) \|\| Electrical and Computer Engineering, Drexel University, Philadelphia, PA 19104, USA (Kam, M.)
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.
Starting Page	3315
Ending Page	3322
File Size	170829
Page Count	8
File Format	PDF
ISBN	9781467314039
ISSN	10504729
e-ISBN	9781467314053
e-ISBN	9781467314046
DOI	10.1109/ICRA.2012.6225141
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-05-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Collision avoidance Vehicles Robot kinematics Planning Kinematics Trajectory
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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