Path Planning for Cooperative Routing of Air-Ground Vehicles
Optimization and Control
2016-06-01 v1 Combinatorics
Abstract
We consider a cooperative vehicle routing problem for surveillance and reconnaissance missions with communication constraints between the vehicles. We propose a framework which involves a ground vehicle and an aerial vehicle; the vehicles travel cooperatively satisfying the communication limits, and visit a set of targets. We present a mixed integer linear programming (MILP) formulation and develop a branch-and-cut algorithm to solve the path planning problem for the ground and air vehicles. The effectiveness of the proposed approach is corroborated through extensive computational experiments on several randomly generated instances.
Keywords
Cite
@article{arxiv.1605.09739,
title = {Path Planning for Cooperative Routing of Air-Ground Vehicles},
author = {Satyanarayana Manyam and David Casbeer and Kaarthik Sundar},
journal= {arXiv preprint arXiv:1605.09739},
year = {2016}
}