A Lagrangian-Based Algorithm for a Combinatorial Motion Planning Problem
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We consider a combinatorial motion planning problem (CMP) that naturally arises in many applications involving unmanned aerial vehicles (UAVs) with fuel and motion constraints. The motion constraint we consider is the inability of a vehicle to turn at an arbitrary yaw rate. The CMP is a generalization of a single Travelling Salesman Problem and is NP-Hard. In this paper, we exploit the combinatorial structure of the problem and provide heuristics with computational results to address the same. © 2007 IEEE.
author list (cited authors)
Yadlapalli, S., Malik, W. A., Rathinam, S., & Darbha, S.