Linear-programming-based multi-vehicle path planning with adversaries

@article{Chasparis2005LinearprogrammingbasedMP,
  title={Linear-programming-based multi-vehicle path planning with adversaries},
  author={G. C. Chasparis and J. S. Shamma},
  journal={Proceedings of the 2005, American Control Conference, 2005.},
  year={2005},
  pages={1072-1077 vol. 2}
}
A linear-programming (LP) based path planning algorithm is developed for deriving optimal paths for a group of autonomous vehicles in an adversarial environment. In this method, both friendly and enemy vehicles are modelled as different resource types in an arena of sectors, and the path planning problem is viewed as a resource allocation problem. Simple model simplifications are introduced to allow the use of linear programming in conjunction with a receding horizon implementation for multi… CONTINUE READING
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