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This paper presents a decentralized control policy for symmetric formations in multi-agent systems. It is shown that n agents, each one pursuing its leading neighbor along the line of sight rotated by a common offset angle α, eventually converge to a single point, a circle or a logarithmic spiral pattern, depending on the value of α. In the final part of(More)
In this paper we present a novel probabilistic sampling-based motion planning algorithm called the Fast Marching Tree algorithm (FMT*). The algorithm is specifically aimed at solving complex motion planning problems in high-dimensional configuration spaces. This algorithm is proven to be asymptotically optimal and is shown to converge to an optimal solution(More)
—In this paper we present adaptive and distributed algorithms for motion coordination of a group of m vehicles. The vehicles must service demands whose time of arrival, spatial location and service requirement are stochastic; the objective is to minimize the average time demands spend in the system. The general problem is known as the m-vehicle Dynamic(More)
The objective of this work is to provide analytical guidelines and financial justification for the design of shared-vehicle mobility-on-demand systems. Specifically , we consider the fundamental issue of determining the appropriate number of vehicles to field in the fleet, and estimate the financial benefits of several models of car sharing. As a case(More)
— In this paper, we study the problem of designing motion strategies for a team of mobile agents, required to fulfill request for on-site service in a given planar region. In our model, each service request is generated by a spatio-temporal stochastic process; once a service request has been generated, it remains active for a certain deterministic amount of(More)
In this paper we introduce a dynamic vehicle routing problem in which there are multiple vehicles and multiple priority classes of service demands. Service demands of each priority class arrive in the environment randomly over time and require a random amount of on-site service that is characteristic of the class. To service a demand, one of the vehicles(More)
  • Julie C Castillo-Rogez, Marco Pavone, Issa A D Nesnas, Jeffrey A Hoffman
  • 2012
—The recent decadal survey report for planetary science (compiled by the National Research Council) has prioritized three main areas for planetary exploration: (1) the characterization of the early Solar system history, (2) the search for planetary habitats, and (3) an improved understanding about the nature of planetary processes. A growing number of(More)
In this paper we present a novel probabilistic sampling-based motion planning algorithm called the Fast Marching Tree algorithm (FMT *). The algorithm is specifically aimed at solving complex motion planning problems in high-dimensional configuration spaces. This algorithm is proven to be asymptotically optimal and is shown to converge to an optimal(More)
—Recent years have witnessed great advancements in the science and technology of autonomy, robotics and networking. This paper surveys recent concepts and algorithms for dynamic vehicle routing (DVR), that is, for the automatic planning of optimal multi-vehicle routes to perform tasks that are generated over time by an exogenous process. We consider a rich(More)