Task allocation and trajectory planning for multiple agents in the presence of obstacle and connectivity constraints with mixed‐integer linear programming
Summary This article addresses the problem of maneuvering multiple agents that must visit a number of target sets, while enforcing connectivity constraints and avoiding obstacle as well as interagent collisions. The tool to cope with the problem is a formulation of model predictive control including...
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| Veröffentlicht in: | International journal of robust and nonlinear control Jg. 30; H. 14; S. 5464 - 5491 |
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| Sprache: | Englisch |
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Bognor Regis
Wiley Subscription Services, Inc
25.09.2020
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| Abstract | Summary
This article addresses the problem of maneuvering multiple agents that must visit a number of target sets, while enforcing connectivity constraints and avoiding obstacle as well as interagent collisions. The tool to cope with the problem is a formulation of model predictive control including binary decision variables. In this regard, two mixed‐integer linear programming formulations are presented, considering a trade‐off between optimality and scalability between them. Simulation results are also shown to illustrate the main features of the proposed approaches. |
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| AbstractList | This article addresses the problem of maneuvering multiple agents that must visit a number of target sets, while enforcing connectivity constraints and avoiding obstacle as well as interagent collisions. The tool to cope with the problem is a formulation of model predictive control including binary decision variables. In this regard, two mixed‐integer linear programming formulations are presented, considering a trade‐off between optimality and scalability between them. Simulation results are also shown to illustrate the main features of the proposed approaches. Summary This article addresses the problem of maneuvering multiple agents that must visit a number of target sets, while enforcing connectivity constraints and avoiding obstacle as well as interagent collisions. The tool to cope with the problem is a formulation of model predictive control including binary decision variables. In this regard, two mixed‐integer linear programming formulations are presented, considering a trade‐off between optimality and scalability between them. Simulation results are also shown to illustrate the main features of the proposed approaches. |
| Author | Afonso, Rubens J.M. Maximo, Marcos R.O.A. Galvão, Roberto K.H. |
| Author_xml | – sequence: 1 givenname: Rubens J.M. orcidid: 0000-0001-9209-2253 surname: Afonso fullname: Afonso, Rubens J.M. email: rubensjm@ita.br, rubens.afonso@tum.de organization: Instituto Tecnológico de Aeronáutica – sequence: 2 givenname: Marcos R.O.A. orcidid: 0000-0003-2944-4476 surname: Maximo fullname: Maximo, Marcos R.O.A. organization: Instituto Tecnológico de Aeronáutica – sequence: 3 givenname: Roberto K.H. orcidid: 0000-0001-9794-8815 surname: Galvão fullname: Galvão, Roberto K.H. organization: Instituto Tecnológico de Aeronáutica |
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| Cites_doi | 10.1007/978-3-642-13059-5_52 10.1007/978-3-540-73424-6_2 10.1002/rnc.1341 10.1080/00207179.2018.1514129 10.1109/ROBOT.2000.844730 10.1017/CBO9780511546877 10.1109/TAC.2014.2336358 10.1002/rnc.1059 10.1137/130915303 10.1002/rnc.3101 10.1109/TRO.2016.2593045 10.1177/0278364913499085 10.1007/s10846-019-00987-2 10.1109/ROBOT.2000.844100 10.1109/TRO.2017.2705119 10.1007/0-306-48213-4_1 10.1109/TRO.2017.2664883 10.1007/978-3-319-26995-5 10.1177/027836498600500106 10.23919/ECC.2001.7076321 10.1109/ICRA.2012.6224708 10.2514/2.4943 10.1016/j.automatica.2009.10.014 10.1007/978-3-642-30947-2_60 10.1007/978-3-642-11503-5_12 10.1016/0020-0190(79)90068-1 |
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This article addresses the problem of maneuvering multiple agents that must visit a number of target sets, while enforcing connectivity constraints and... This article addresses the problem of maneuvering multiple agents that must visit a number of target sets, while enforcing connectivity constraints and... |
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| SubjectTerms | Computer simulation connectivity maintenance cooperative multiple agents Integer programming Integers Linear programming mixed‐integer linear programming Multiagent systems obstacle avoidance Predictive control Trajectory planning |
| Title | Task allocation and trajectory planning for multiple agents in the presence of obstacle and connectivity constraints with mixed‐integer linear programming |
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