Reinl, Christian ; Stryk, Oskar von (2007)
Optimal Control of Multi-Vehicle Systems Under Communication Constraints Using Mixed-Integer Linear Programming.
Athens, Greece
Konferenzveröffentlichung, Bibliographie
Kurzbeschreibung (Abstract)
A new planning method for optimal cooperative control of heterogeneous multi-vehicle systems is investigated which enables to account for each vehicle’s nonlinear physical motion dynamics in a structured environment as well as for connectivity constraints of wireless communication. A general formulation as nonlinear hybrid optimal control problem (HOCP) is presented. A transformation technique is proposed to reduce the large computational efforts for solving HOCPs towards a future online application of this approach. Hereby the general problem is transcribed to a linearized mixed-integer linear programming problem (MILP) which can be solved much more efficiently. The proposed approach is successfully applied to the numerical solution of a representative, cooperative monitoring problem involving heterogeneous vehicles and conditions.
| Typ des Eintrags: | Konferenzveröffentlichung |
|---|---|
| Erschienen: | 2007 |
| Autor(en): | Reinl, Christian ; Stryk, Oskar von |
| Art des Eintrags: | Bibliographie |
| Titel: | Optimal Control of Multi-Vehicle Systems Under Communication Constraints Using Mixed-Integer Linear Programming |
| Sprache: | Englisch |
| Publikationsjahr: | 18 Oktober 2007 |
| Buchtitel: | Proceedings of the 2007 First International Conference on Robot Communication and Coordination : Athens, Greece, October 15 - 17.-[Brussels] : ICST, 2007.-1 CD-ROM.-ISBN 978-963-979908-0 |
| Veranstaltungsort: | Athens, Greece |
| Zugehörige Links: | |
| Kurzbeschreibung (Abstract): | A new planning method for optimal cooperative control of heterogeneous multi-vehicle systems is investigated which enables to account for each vehicle’s nonlinear physical motion dynamics in a structured environment as well as for connectivity constraints of wireless communication. A general formulation as nonlinear hybrid optimal control problem (HOCP) is presented. A transformation technique is proposed to reduce the large computational efforts for solving HOCPs towards a future online application of this approach. Hereby the general problem is transcribed to a linearized mixed-integer linear programming problem (MILP) which can be solved much more efficiently. The proposed approach is successfully applied to the numerical solution of a representative, cooperative monitoring problem involving heterogeneous vehicles and conditions. |
| Fachbereich(e)/-gebiet(e): | 20 Fachbereich Informatik 20 Fachbereich Informatik > Simulation, Systemoptimierung und Robotik Zentrale Einrichtungen |
| Hinterlegungsdatum: | 18 Mär 2009 11:30 |
| Letzte Änderung: | 06 Mai 2019 11:07 |
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