motion planning

A Mixed Integer Nonlinear Programming Framework for Fixed Path Coordination of Multiple Underwater Vehicles under Acoustic Communication Constraints

  • Pramod Abichandani
  • Hande Benson
  • Shambadeb Basu
  • Solmaz Torabi
    • Categories (Mixed) Integer Nonlinear Programming, Control Applications, Telecommunications Tags , , ,

    Mixed Integer Nonlinear Programming (MINLP) techniques are increasingly used to address challenging problems in robotics, especially Multi-Vehicle Motion Planning (MVMP). The main contribution of this paper is a discrete time-distributed Receding Horizon Mixed Integer Nonlinear Programming (RH-MINLP) formulation of the underwater multi-vehicle path coordination problem with constraints on kinematics, dynamics, collision avoidance, and acoustic communication … Read more