Cooperative Path Planning for Timing-Critical Missions

@inproceedings{McLain2003CooperativePP,
  title={Cooperative Path Planning for Timing-Critical Missions},
  author={Timothy W. McLain and William A. Beard},
  year={2003}
}
This paper presents a cooperative path planning approach for teams of vehicles operating under timing constraints. A cooperative control approach based on coordination variables and coordination functions is introduced and applied to cooperative timing problems. Three types of timing constraints are considered: simultaneous arrival, tight sequencing, and loose sequencing. Simulation results demonstrating the approach are presented. 
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