DocumentCode
3493344
Title
On-line optimization-based coordination of multiple unmanned vehicles
Author
Fierro, Rafael ; Branca, Carlo ; Spletzer, John R.
Author_Institution
Sch. of Electr. & Comput. Eng., Oklahoma State Univ., Stillwater, OK, USA
fYear
2005
fDate
19-22 March 2005
Firstpage
716
Lastpage
721
Abstract
The objective of this work is to investigate on-line optimization-based coordination strategies for robot teams to efficiently accomplish a mission (e.g., reach a set of assigned targets) while avoiding collisions. The multi-robot coordination problem is addressed by solving an on-line receding-horizon mixed-integer program to find some suitable inputs for the vehicles. Simulations results verify the feasibility of our approach.
Keywords
collision avoidance; integer programming; mobile robots; multi-robot systems; remotely operated vehicles; telerobotics; collision avoidance; multi-robot coordination problem; multiple unmanned vehicles; on-line optimization-based coordination strategy; on-line receding-horizon mixed-integer program; robot teams; Automotive engineering; Constraint optimization; Mobile robots; Multirobot systems; Open loop systems; Optimal control; Predictive control; Predictive models; Remotely operated vehicles; Robot kinematics;
fLanguage
English
Publisher
ieee
Conference_Titel
Networking, Sensing and Control, 2005. Proceedings. 2005 IEEE
Print_ISBN
0-7803-8812-7
Type
conf
DOI
10.1109/ICNSC.2005.1461278
Filename
1461278
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