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
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;
Conference_Titel :
Networking, Sensing and Control, 2005. Proceedings. 2005 IEEE
Print_ISBN :
0-7803-8812-7
DOI :
10.1109/ICNSC.2005.1461278
