Research Article
Optimal Control of Multi-Vehicle-Systems Under Communication Constraints Using Mixed-Integer Linear Programming
@INPROCEEDINGS{10.4108/ICST.ROBOCOMM2007.2211, author={Christian Reinl and Oskar von Stryk}, title={Optimal Control of Multi-Vehicle-Systems Under Communication Constraints Using Mixed-Integer Linear Programming}, proceedings={1st International ICST Conference on Robot Communication and Coordination}, proceedings_a={ROBOCOMM}, year={2010}, month={5}, keywords={}, doi={10.4108/ICST.ROBOCOMM2007.2211} }- Christian Reinl
Oskar von Stryk
Year: 2010
Optimal Control of Multi-Vehicle-Systems Under Communication Constraints Using Mixed-Integer Linear Programming
ROBOCOMM
ICST
DOI: 10.4108/ICST.ROBOCOMM2007.2211
Abstract
A new planning method for optimal cooperative control of heterogeneous multi-vehicle systems is investigated which enables to account for each vehicle’s nonlinear physical motion dynamics in a structured environment as well as for connectivity constraints of wireless communication. A general formulation as nonlinear hybrid optimal control problem (HOCP) is presented. A transformation technique is proposed to reduce the large computational efforts for solving HOCPs towards a future online application of this approach. Hereby the general problem is transcribed to a linearized mixed-integer linear programming problem (MILP) which can be solved much more efficiently. The proposed approach is successfully applied to the numerical solution of a representative, cooperative monitoring problem involving heterogeneous vehicles and conditions.