Multivehicle path planning for nonline-of-sight communication

Journal of Field Robotics

Volumn 23, Issue 3-4, 2006, Pages 269-290

  Schouwenaars, Tom ^a   Stubbs, Andrew ^b   Paduano, James ^b   Feron, Eric ^a  

^a MASSACHUSETTS INSTITUTE OF TECHNOLOGY   (United States)

^b Nascent Technology Corporation   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER SIMULATION; FLIGHT DYNAMICS; MATHEMATICAL PROGRAMMING; MOTION PLANNING; OPTIMIZATION;

AUTONOMOUS HELICOPTERS; MULTIVEHICLE PATH PLANNING; NONLINE-OF-SIGHT COMMUNICATION; VEHICLE DYNAMICS;

HELICOPTERS;

EID: 33745686546     PISSN: 15564959     EISSN: 15564967     Source Type: Journal    
DOI: 10.1002/rob.20119     Document Type: Article

References (39)

1. Barraquand, J., Kavraki, L.E., Latombe, J.C., Li, T.Y., Motwani, R., & Raghavan, P. (1997). A random sampling scheme for path planning. International Journal of Robotics Research, 16(6), 759-774.
2. Beard, R., & McLain, T. (2003). Multiple UAV cooperative search under collision avoidance and limited range communication constraints. Paper presented at the 42nd IEEE Conference on Decision and Control, Maui, HI.
3. Beard, R., McLain, T., Goodrich, M., & Anderson, E. (2002). Coordinated target assignment and intercept for unmanned air vehicles. IEEE Transactions on Robotics and Automation, 18(6), 911-922.
4. Bellingham, J., Richards, A., & How, J. (2002). Receding horizon control of autonomous aerial vehicles. Paper presented at the 2002 American Control Conference, Anchorage, AK (pp. 3741-3746).
5. Bemporad, A., & Morari, M. (1999). Control of systems integrating logic, dynamics, and constraints. Automatica, 35(3), 407-427.
6. Bererton, C., Gordon, G., Thrun, S., & Khosla, P. (2003). Auction mechanism design for multi-robot coordination. Paper presented at the 2003 Conference on Neural Information Processing Systems (NIPS), S. Thrun, L. Saul, and B. Schölkopf, eds. Cambridge, MA: MIT Press.
7. Bertsimas, D., & Weismantel, R. (2005). Optimization over integers. Belmont, MA: Dynamic Ideas.
8. Earl, M.G., & D'Andrea, R. (2002). Modeling and control of a multiagent system using mixed integer linear programming. Paper presented at the 41st IEEE Conference on Decision and Control. Las Vegas, NV (pp. 107-111).
9. Floudas, C.A. (1995). Nonlinear and mixed-integer programming - Fundamentals and applications. Oxford, UK: Oxford University Press.
10. Fourer, R., Gay, D.M., & Kernighar, B.W. (2003). AMPL, A modeling language for mathematical programming. Stamford, CT: Thomson Learning.
11. Gavrilets, V. (2003). Autonomous aerobatic maneuvering of miniature helicopters. Unpublished Ph.D. thesis. Massachusetts Institute of Technology, Cambridge, MA.
12. Google (2005). Google Earth .
13. Gossner, J.R., Kouvaritakis, B., & Rossiter, J.A. (1996). Stable generalized predictive control with constraints and bounded disturbances. Automatica, 33(4), 551-568.
14. Hopcroft, J.E., Schwartz, J.T., & Sharir, M. (1984). On the complexity of motion planning for multiple independent objects: PSPACE-hardness of the warehouseman's problem. International Journal of Robotics Research, 4(3), 76-88.
15. Howard, A., Mataric, M.J., & Sukhatme, G.S. (2002). An incremental self-deployment algorithm for mobile sensor networks. Autonomous Robots, Special Issue on Intelligent Embedded Systems, 13(2), 113-126.
16. ILOG Inc. (2003). ILOG CPLEX 9.0 user's guide. Mountain View, CA.
17. Kalra, N., Ferguson, D., & Stentz, A. (2005). Hoplites: A market-based framework for planned tight coordination in multirobot teams. Paper presented at the 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain.
18. Kuwata, Y., Schouwenaars, T., Richards, A., & How, J. (2005). Robust constrained receding horizon control for trajectory planning. Paper presented at the AIAA Guidance, Navigation, and Control Conference, San Francisco, CA.
19. Latombe, J.-C. (1991). Robot motion planning. Norwell, MA: Kluwer Academic.
20. LaValle, S.M. (2006). Planning algorithms. Cambridge, MA: Cambridge University Press. Also available at .
21. Lemaire, T., Alami, R., & Lacroix, S. (2004). A distributed tasks allocation scheme in multi-UAV context. Paper presented at the IEEE International Conference on Robotics and Automation, New Orleans, LA (pp. 3622-3627).
22. Lian, E.-L., & Murray, R. (2003). Cooperative task planning of multi-robot systems with temporal constraints. Paper presented at the 2003 IEEE Int. Conference on Robotics and Automation, Taipei, Taiwan.
23. Office of the Under Secretary of Defense for Acquisition, Technology, and Logistics (2002). Unmanned atrial vehicles roadmap 2002-2027. Report No. A809414. Washington, DC.
24. Nguyen, H.G., Pezeshkian, N., Raymond, M., Gupta, A., & Spector, J.M. (2003). Autonomous communication relays for tactical robots. Paper presented at the 11th International Conference on Advanced Robotics, Coimbra, Portugal.
25. Powers, M., & Balch, T. (2004). Value-based communication preservation for mobile robots. Paper presented at the 7th International Symposium on Distributed Autonomous Robotic Systems, Toulouse, France.
26. Reif, J. (1979). Complexity of the mover's problem and generalizations. Paper presented at the 20th IEEE Symposium on Foundations of Computer Science, pp. 224-241.
27. Richards, A. (2004). Robust constrained model predictive control. Unpublished Ph.D. thesis. Massachusetts Institute of Technology, Cambridge, MA.
28. Richards, A., Bellingham, J., Tillerson, M., & How, J. (2002). Coordination and control of multiple UAVs. Paper presented at the AIAA Guidance, Navigation, and Control Conference, Monterey, CA.
29. Richards, A., & How, J. (2003). Model predictive control of vehicle maneuvers with guaranteed completion time and robust feasibility. Paper presented at the 2003 American Control Conference, Denver, CO.
30. Richards, A., Kuwata, Y., & How, J. (2003). Experimental demonstrations of real-time MILP control. Paper presented at the AIAA Guidance, Navigation, and Control Conference, Austin, TX.
31. Schouwenaars, T., De Moor, B., Feron, E., & How, J. (2001). Mixed integer programming for multivehicle path planning. Paper presented at the 2001 European Control Conference, Porto, Portugal (pp. 2603-2608).
32. Schouwenaars, T., How, J., & Feron, E. (2004). Receding horizon path planning with implicit safety guarantees. Paper presented at the 2004 American Control Conference, Boston, MA (pp. 5576-5581).
33. Schouwenaars, T., Valenti, M., Feron, E., & How, J. (2005). Implementation and flight test results of MILP-based UAV guidance. Paper presented at the 2005 IEEE Aerospace Conference, Big Sky, MT.
34. Spanos, D., & Murray, R. (2005). Motion planning with wireless network constraints. Paper presented at the 2005 American Control Conference, Portland, OR.
35. Sprague, K., Gavrilets, V., Martinos, I., Dugail, D., Mettler, B., & Feron, E. (2001). Design and applications of an avionics systems for a miniature acrobatic helicopter. Paper presented at the 20th Digital Avionics Systems (DASC), Daytona Beach, FL.
36. Sweeney, J., Brunette, T.J., Yang, Y., & Grupen, R. (2002). Coordinated teams of reactive mobile platforms. Paper presented at the 2002 IEEE International Conference on Robotics and Automation, Washington, D.C.
37. Taha, H.A. (1987). Operation research, an introduction. 4th ed. New York: Macmillan.
38. Ulam, P., & Arkin, R.C. (2004). When good comms go bad: Communications recovery for multirobot teams. Paper presented at the 2004 IEEE International Conference on Robotics and Automation, New Orleans, LA (pp. 3727-3734).
39. Wagner, A., & Arkin, R. (2004). Multirobot communication-sensitive reconnaissance. Paper presented at the IEEE International Conference on Robotics and Automation, New Orleans, LA (pp. 4674-4681).