Cooperative Distributed Robust Trajectory Optimization Using Receding Horizon MILP

@article{Kuwata2011CooperativeDR,
  title={Cooperative Distributed Robust Trajectory Optimization Using Receding Horizon MILP},
  author={Yoshiaki Kuwata and Jonathan P. How},
  journal={IEEE Transactions on Control Systems Technology},
  year={2011},
  volume={19},
  pages={423-431}
}
Motivated by recent research on cooperative unmanned aerial vehicles (UAVs), this paper introduces a new cooperative distributed trajectory optimization approach for systems with independent dynamics but coupled objectives and hard constraints. The overall goal is to develop a distributed approach that solves small subproblems while minimizing a fleet-level objective. In the new algorithm, vehicles solve their subproblems in sequence while generating feasible modifications to the prediction of… CONTINUE READING

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