Task allocation and trajectory planning for multip... - BV FAPESP
Advanced search
Start date
Betweenand
Related content
(Reference retrieved automatically from Web of Science through information on FAPESP grant and its corresponding number as mentioned in the publication by the authors.)

Task allocation and trajectory planning for multiple agents in the presence of obstacle and connectivity constraints with mixed-integer linear programming

Full text
Author(s):
Afonso, Rubens J. M. [1, 2] ; Maximo, Marcos R. O. A. [3] ; Galvao, Roberto K. H. [2]
Total Authors: 3
Affiliation:
[1] Tech Univ Munich, Inst Flight Syst Dynam, Dept Aerosp & Geodesy, Bavaria - Germany
[2] Inst Tecnol Aeronaut, Elect Engn Div, Sao Paulo - Brazil
[3] Inst Tecnol Aeronaut, Autonomous Computat Syst Lab LAB SCA, Div Comp Sci, Sao Paulo - Brazil
Total Affiliations: 3
Document type: Journal article
Source: INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL; v. 30, n. 14 JUL 2020.
Web of Science Citations: 0
Abstract

This article addresses the problem of maneuvering multiple agents that must visit a number of target sets, while enforcing connectivity constraints and avoiding obstacle as well as interagent collisions. The tool to cope with the problem is a formulation of model predictive control including binary decision variables. In this regard, two mixed-integer linear programming formulations are presented, considering a trade-off between optimality and scalability between them. Simulation results are also shown to illustrate the main features of the proposed approaches. (AU)

FAPESP's process: 16/03647-3 - Development and Implementation of Walking Algorithms for Humanoid Robots
Grantee:Rubens Junqueira Magalhães Afonso
Support Opportunities: Regular Research Grants