Receding horizon path planning with implicit safety guarantees

Proceedings of the American Control Conference

Volumn 6, Issue , 2004, Pages 5576-5581

  Schouwenaars, Tom ^a,b   How, Jonathan ^a,c   Feron, Eric ^a,b  

^a Massachusetts Institute of Technology Cambridge   (United States)

^b MASSACHUSETTS INSTITUTE OF TECHNOLOGY   (United States)

^c Space Systems Laboratory ^*  (United States)

Author keywords

[No Author keywords available]

Indexed keywords

COST-TO-GO FUNCTION; MIXED INTEGER LINEAR PROGRAMMING (MILP); SAFETY CONSTRAINTS; UNMANNED AIR VEHICLES (UAV);

ACCIDENT PREVENTION; INTEGER PROGRAMMING; ITERATIVE METHODS; LINEAR PROGRAMMING; PROBLEM SOLVING; SYSTEM STABILITY;

MOTION PLANNING;

EID: 8744310627     PISSN: 07431619     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ACC.2004.249028     Document Type: Conference Paper

References (11)

1. ILOG CPLEX User's guide. ILOG, 2003.
2. J. Bellingham, A. Richards, and J. How. 'Receding Horizon Control of Autonomous Aerial Vehicles". In Proc. of the 2002 American Control Conference, Anchorage, AK, May 2002.
3. C. A. Floudas. Nonlinear and Mixed-Integer Programming - Fundamentals and Applications. Oxford University Press, 1995.
4. E.G. Kerrigan and J.M. Maciejowski. 'Invariant Sets for Constrained Nonlinear Discrete-time Systems with Application to Feasibility in Model Predictive Control". In Proc. of the 39th IEEE Conference on Decision and Control, Sydney, Australia, December 2000.
5. M. Oishi, C. Tomlin, V. Gopal, and D. Godbole. 'Addressing Multi-objective Control: Safety and Performance through Constrained Optimization". In M.D. Di Benedetto and A. Sangiovanni-Vincentelli, editors, Hybrid Systems: Computation and Control, number 2034 in LNCS, pages 459-472. Springer Verlag, Berlin Heidelberg, 2001.
6. A. Richards and J. How. 'Aircraft Trajectory Planning With Collision Avoidance Using Mixed Integer Linear Programming". In Proc. of the 2002 American Control Conference, Anchorage, AK, May 2002.
7. A. Richards, Y. Kuwata, and J. How. 'Experimental Demonstrations of Real-Time MILP Control". In Proc. of the AIAA Guidance, Navigation, and Control Conference, Austin, TX, August 2003.
8. T. Schouwenaars, E. Feron, and J. How. 'Safe Receding Horizon Path Planning for Autonomous Vehicles". In Proc. of the 40th Annual Allerton Conference on Communication, Control, and Computing, Monticello, IL, October 2002.
9. T. Schouwenaars, B. De Moor, E. Feron, and J. How. 'Mixed Integer Programming for Multi-Vehicle Path Planning". In Proc. of the 2001 European Control Conference, Porto, Portugal, September 2001.
10. C. Tomlin, I. Mitchell, and R. Ghosh. 'Safety Verification of Confict Resolution Maneuvers". IEEE Transactions on Intelligent Transportation Systems, 2(2), June 2001.
11. M. Valenti, T. Schouwenaars, Y. Kuwata, E. Feron, and J. How. 'Implementation of a Parent-Child Mission System in a Partially-Known Environment". Providence, RI, August 2004. To appear at the AIAA Guidance, Navigation and Control Conference.