DocumentCode
397704
Title
Time-optimal graph traversal for two agents: when is formation travel beneficial?
Author
Rao, Venkatesh G. ; Kabamba, Pierre T.
Author_Institution
Dept. of Aerosp. Eng., Michigan Univ., Ann Arbor, MI, USA
Volume
4
fYear
2003
fDate
4-6 June 2003
Firstpage
3254
Abstract
This paper addresses the question, "when and how should autonomous agents engage in formation travel?" Specifically, we formulate and solve an optimization problem for two agents traversing a graph, under joint velocity constraints. The results are applicable to the problem of constructing optimal trajectories for formation travel. The analysis is illustrated by two examples.
Keywords
graph theory; mobile robots; motion control; optimisation; position control; velocity; arc traversal; autonomous agent; formation travel; joint velocity constraint; motion-planning domain; optimal trajectory; optimization problem; spanning tree; time-optimal graph traversal; transport network; Automated highways; Autonomous agents; Cost benefit analysis; Cost function; Fuels; NASA; Rails; Road transportation; Unmanned aerial vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2003. Proceedings of the 2003
ISSN
0743-1619
Print_ISBN
0-7803-7896-2
Type
conf
DOI
10.1109/ACC.2003.1244032
Filename
1244032
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