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
Hauptverfasser:	Afonso, Rubens J.M., Maximo, Marcos R.O.A., Galvão, Roberto K.H.
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	Bognor Regis Wiley Subscription Services, Inc 25.09.2020
Schlagworte:	Computer simulation connectivity maintenance cooperative multiple agents Integer programming Integers Linear programming mixed‐integer linear programming Multiagent systems obstacle avoidance Predictive control Trajectory planning
ISSN:	1049-8923, 1099-1239
Online-Zugang:	Volltext
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