Minimal switching time of agent formations with collision avoidance

• Type: Article in International Scientific Journal
• Date: 2010

Authors

fontes, dbmm (Author) FEP; fontes, facc (Author) FEUP

Journal

Title: Springer Optimization and Its Applications

Vol. 40

Pages: 305-321

ISSN: 1931-6828

Publisher: Springer Nature

Indexing

ISI Web of Knowledge

Scopus - 3 Citations

Other information

Authenticus ID: P-00K-M73

DOI: 10.1007/978-1-4419-5689-7_16

Abstract (EN): We address the problem of dynamically switching the topology of a formation of a number of undistinguishable agents. Given the current and the final topologies, each with n agents, there are n! possible allocations between the initial and final positions of the agents. Given the agents maximum velocities, there is still a degree of freedom in the trajectories that might be used in order to avoid collisions. We seek an allocation and corresponding agent trajectories minimizing the maximum time required by all agents to reach the final topology, avoiding collisions. Collision avoidance is guaranteed through an appropriate choice of trajectories, which might have consequences in the choice of an optimal permutation. We propose here a dynamic programming approach to optimally solve problems of small dimension. We report computational results for problems involving formations with up to 12 agents. © Springer Science+Business Media, LLC 2010.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 17