New problems of optimal path coordination for multi-vehicle systems

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2009

Autores

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

Ata de Conferência Internacional

Título: 2009 European Control Conference, ECC 2009

Páginas: 2676-2681

2009 10th European Control Conference, ECC 2009

23 August 2009 through 26 August 2009

Indexação

Scopus - 0 Citações

INSPEC

Classificação Científica

FOS: Ciências da engenharia e tecnologias > Engenharia electrotécnica, electrónica e informática

CORDIS: Ciências Tecnológicas > Engenharia

Outras Informações

ID Authenticus: 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.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6