there exists a large class of problems that incorporate both logical decision and algebraic constraints. For example, in cooperative path planning (CPP) problem, obstacle avoidance can be achieved by selecting a direction in which to avoid every obstacle, which in turn imposes an inequality constraint. Traditionally, these hybrid decision-control problems (HDCPs) are encoded in a binary integer program (BIP). These BIPs are solved using Branch and Bound (B&B) techniques. Two problems arise with… CONTINUE READING