New problems of optimal path coordination for multi-vehicle systems

• Type: Article in International Conference Proceedings Book
• Date: 2009

Authors

João Tasso Sousa (Author) FEUP; Fernando Lobo Pereira (Author) FEUP; Jorge Estrela da Silva (Author) FEUP

Conference proceedings International

Title: 2009 European Control Conference, ECC 2009

Pages: 2676-2681

2009 10th European Control Conference, ECC 2009

23 August 2009 through 26 August 2009

Indexing

Scopus - 0 Citations

INSPEC

Scientific classification

FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering

CORDIS: Technological sciences > Engineering

Other information

Authenticus ID: P-00A-C2A

Abstract (EN): New problems of optimal path coordination for multiple vehicles are introduced, formulated and solved in the framework of dynamic optimization. The novelty of these problems arises in several ways. The cost function and the dynamics include non-trivial dependencies, modeled through existential quantification over groups of vehicles - this leads to non-Lipschitz behavior and to non-standard optimal control problems. There are consumable resources, modeled with the help of integral constraints - the structure of the constraints suggested new strategies for optimal cooperation which outperform the results obtained with standard formulations with state-constraints. Our formulation uses the structure of the problem to decouple the overall optimization into simpler coupled problems in lower-dimensional spaces. This is expressed in the form of the solution, which is encoded as the composition of value functions in lower-dimensional spaces.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6