A Resource Allocation Algorithm for Multivehicle Systems With Nonholonomic Constraints

  title={A Resource Allocation Algorithm for Multivehicle Systems With Nonholonomic Constraints},
  author={Sivakumar Rathinam and Raja Sengupta and Swaroop Darbha},
  journal={IEEE Transactions on Automation Science and Engineering},
This paper is about the allocation of tours of m targets to n vehicles. The motion of the vehicles satisfies a nonholonomic constraint (i.e., the yaw rate of the vehicle is bounded). Each target is to be visited by one and only one vehicle. Given a set of targets and the yaw rate constraints on the vehicles, the problem addressed in this paper is 1) to assign each vehicle a sequence of targets to visit, and 2) to find a feasible path for each vehicle that passes through the assigned targets… CONTINUE READING
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