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Conference Paper: Optimization-based formation reconfiguration planning for autonomous vehicles

TitleOptimization-based formation reconfiguration planning for autonomous vehicles
Authors
Issue Date2003
Citation
Proceedings - Ieee International Conference On Robotics And Automation, 2003, v. 3, p. 3758-3763 How to Cite?
AbstractGiven a group of autonomous vehicles, an initial configuration, a final configuration, a set of inter- and intravehicle constraints, and a time for reconfiguration, the Formation Reconfiguration Planning problem is focused on determining a nominal input trajectory for each vehicle such that the group can start from the initial configuration and reach its final configuration at the specified time while satisfying the set of inter- and intra-vehicle constraints. In this paper, we are interested in solving the Formation Reconfiguration Planning problem for a specific class of systems and a particular form of input signals so that the problem can be reformulated as an optimization problem which can be solved more efficiently, especially for a large group of vehicles.
Persistent Identifierhttp://hdl.handle.net/10722/188705
ISSN
References

 

DC FieldValueLanguage
dc.contributor.authorZelinski, Sen_US
dc.contributor.authorKoo, TJen_US
dc.contributor.authorSastry, Sen_US
dc.date.accessioned2013-09-03T04:13:36Z-
dc.date.available2013-09-03T04:13:36Z-
dc.date.issued2003en_US
dc.identifier.citationProceedings - Ieee International Conference On Robotics And Automation, 2003, v. 3, p. 3758-3763en_US
dc.identifier.issn1050-4729en_US
dc.identifier.urihttp://hdl.handle.net/10722/188705-
dc.description.abstractGiven a group of autonomous vehicles, an initial configuration, a final configuration, a set of inter- and intravehicle constraints, and a time for reconfiguration, the Formation Reconfiguration Planning problem is focused on determining a nominal input trajectory for each vehicle such that the group can start from the initial configuration and reach its final configuration at the specified time while satisfying the set of inter- and intra-vehicle constraints. In this paper, we are interested in solving the Formation Reconfiguration Planning problem for a specific class of systems and a particular form of input signals so that the problem can be reformulated as an optimization problem which can be solved more efficiently, especially for a large group of vehicles.en_US
dc.languageengen_US
dc.relation.ispartofProceedings - IEEE International Conference on Robotics and Automationen_US
dc.titleOptimization-based formation reconfiguration planning for autonomous vehiclesen_US
dc.typeConference_Paperen_US
dc.identifier.emailKoo, TJ: john.koo@siat.ac.cnen_US
dc.identifier.authorityKoo, TJ=rp01787en_US
dc.description.naturelink_to_subscribed_fulltexten_US
dc.identifier.scopuseid_2-s2.0-0345327662en_US
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-0345327662&selection=ref&src=s&origin=recordpageen_US
dc.identifier.volume3en_US
dc.identifier.spage3758en_US
dc.identifier.epage3763en_US
dc.publisher.placeUnited Statesen_US
dc.identifier.scopusauthoridZelinski, S=6507432183en_US
dc.identifier.scopusauthoridKoo, TJ=7005428590en_US
dc.identifier.scopusauthoridSastry, S=35560685800en_US

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