相关论文: Path Planning for Cooperative Routing of Air-Groun…
This article considers a cooperative vehicle routing problem for an intelligence, surveillance, and reconnaissance mission in the presence of communication constraints between the vehicles. The proposed framework uses a ground vehicle and…
This paper addresses the problem of planning time-optimal trajectories for multiple cooperative agents along specified paths through a static road network. Vehicle interactions at intersections create non-trivial decisions, with complex…
Unmanned Aerial Vehicles (UAVs) have been extensively utilized to provide wireless connectivity in rural and under-developed areas, enhance network capacity and provide support for peaks or unexpected surges in user demand, mainly due to…
This paper addresses the problem of motion planning for differential drive micro-mobility platforms. This class of vehicle is designed to perform small-distance transportation of passengers and goods in structured environments. Our approach…
Mixed integer linear programming (MILP) is a powerful tool for planning and control problems because of its modeling capability and the availability of good solvers. However, for large models, MILP methods suffer computationally. In this…
This paper introduces a novel compact mixed integer linear programming (MILP) formulation and a discretization discovery-based solution approach for the Vehicle Routing Problem with Time Windows (VRPTW). We aim to solve the optimization…
In this letter, we consider the Multi-Robot Efficient Search Path Planning (MESPP) problem, where a team of robots is deployed in a graph-represented environment to capture a moving target within a given deadline. We prove this problem to…
Most of the routing algorithms for unmanned vehicles, that arise in data gathering and monitoring applications in the literature, rely on the Global Positioning System (GPS) information for localization. However, disruption of GPS signals…
Unmanned ground vehicles (UGVs) are being used extensively in civilian and military applications for applications such as underground mining, nuclear plant operations, planetary exploration, intelligence, surveillance and reconnaissance…
We present new models of optimization-based task and motion planning (TAMP) for robotic pick-and-place (P&P), which plan action sequences and motion trajectory with low computational costs. We improved an existing state-of-the-art TAMP…
In this paper, we address the problem of time-optimal coordination of mobile robots under kinodynamic constraints along specified paths. We propose a novel approach based on time discretization that leads to a mixed-integer linear…
Cooperative pathfinding is a problem of finding a set of non-conflicting trajectories for a number of mobile agents. Its applications include planning for teams of mobile robots, such as autonomous aircrafts, cars, or underwater vehicles.…
This paper focuses on developing new navigation and reconnaissance capabilities for cooperative unmanned systems in uncertain environments. The goal is to design a cooperative multi-vehicle system that can survey an unknown environment and…
This paper extends our previous work in [1],[2], on optimal scheduling of autonomous vehicle arrivals at intersections, from one to a grid of intersections. A scalable distributed Mixed Integer Linear Program (MILP) is devised that solves…
We consider a Persistent Intelligence, Surveillance and Reconnaissance (PISR) routing problem, which includes collecting data from a set of specified task locations and delivering that data to a control station. Each task is assigned a…
We present methods to synthesize cooperative strategies for multi-vehicle control problems using mixed integer linear programming. Complex multi-vehicle control problems are expressed as mixed logical dynamical systems. Optimal strategies…
This work focuses on exact methods for a Simultaneous Vehicle Routing and Crew Scheduling Problem in long-haul transport. Pickup-and-delivery requests with time windows must be fullfiled over a multi-day planning horizon. Unlike some…
The paper considers the problem of planning a set of non-conflict trajectories for the coalition of intelligent agents (mobile robots). Two divergent approaches, e.g. centralized and decentralized, are surveyed and analyzed. Decentralized…
Unmanned Aerial Vehicles (UAVs) represent a new frontier in a wide range of monitoring and research applications. To fully leverage their potential, a key challenge is planning missions for efficient data acquisition in complex…
Collision-tolerant trajectory planning is the consideration that collisions, if they are planned appropriately, enable more effective path planning for robots capable of handling them. A mixed integer programming (MIP) optimization…