Optimal control of multi-vehicle-systems under communication constraints using mixed-integer linear programming

@inproceedings{Reinl2007OptimalCO,
  title={Optimal control of multi-vehicle-systems under communication constraints using mixed-integer linear programming},
  author={Christian Reinl and Oskar von Stryk},
  booktitle={ROBOCOMM},
  year={2007}
}
A new planning method for optimal cooperative control of heterogeneous multi-vehicle systems is investigated which enables to account for each vehicle’s nonlinear physical motion dynamics in a structured environment as well as for connectivity constraints of wireless communication. A general formulation as nonlinear hybrid optimal control problem (HOCP) is presented. A transformation technique is proposed to reduce the large computational efforts for solving HOCPs towards a future online… CONTINUE READING
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