TY - GEN
T1 - Decentralized multi-vehicle path coordination under communication constraints
AU - Abichandani, Pramod
AU - Benson, Hande Y.
AU - Kam, Moshe
PY - 2011
Y1 - 2011
N2 - We present a mathematical programming based decentralized framework to generate time optimal velocity profiles for a group of path constrained mobile vehicle robots subject to communication connectivity constraints. Each vehicle robot starts from a fixed start point and moves towards a goal point along a fixed path so as to avoid collisions with other robots, and remain in communication connectivity with other robots. The main contribution of this paper is the discrete time decentralized Receding Horizon Mixed Integer Nonlinear Programming (RH-MINLP) formulation of the multi-vehicle path coordination problem with constraints on kinematics, dynamics, collision avoidance, and communication connectivity, and the application of state-of-the-art MINLP solution techniques. We test scenarios involving up to ten (10) robots to demonstrate (i) the effect of communication connectivity requirements on robot velocity profiles; and (ii) the dependence of the solution computation time on communication connectivity requirements.
AB - We present a mathematical programming based decentralized framework to generate time optimal velocity profiles for a group of path constrained mobile vehicle robots subject to communication connectivity constraints. Each vehicle robot starts from a fixed start point and moves towards a goal point along a fixed path so as to avoid collisions with other robots, and remain in communication connectivity with other robots. The main contribution of this paper is the discrete time decentralized Receding Horizon Mixed Integer Nonlinear Programming (RH-MINLP) formulation of the multi-vehicle path coordination problem with constraints on kinematics, dynamics, collision avoidance, and communication connectivity, and the application of state-of-the-art MINLP solution techniques. We test scenarios involving up to ten (10) robots to demonstrate (i) the effect of communication connectivity requirements on robot velocity profiles; and (ii) the dependence of the solution computation time on communication connectivity requirements.
UR - http://www.scopus.com/inward/record.url?scp=84455188459&partnerID=8YFLogxK
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U2 - 10.1109/IROS.2011.6048822
DO - 10.1109/IROS.2011.6048822
M3 - Conference contribution
AN - SCOPUS:84455188459
SN - 9781612844541
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2306
EP - 2313
BT - IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
T2 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Y2 - 25 September 2011 through 30 September 2011
ER -