A Lagrangian-Based Algorithm for a Combinatorial Motion Planning Problem Conference Paper

abstract

• 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.

name of conference

• 2007 46th IEEE Conference on Decision and Control

authors

• Darbha, Swaroop
• Rathinam, Sivakumar

published proceedings

• 2007 46th IEEE Conference on Decision and Control

author list (cited authors)

• Yadlapalli, S., Malik, W. A., Rathinam, S., & Darbha, S.

citation count

• 2

complete list of authors

• Yadlapalli, S||Malik, WA||Rathinam, S||Darbha, S

publication date

• December 2007

publisher

• Institute of Electrical and Electronics Engineers (IEEE)  Publisher

published in

• IEEE Conference on Decision and Control  Journal

Digital Object Identifier (DOI)

• 10.1109/cdc.2007.4434856

International Standard Book Number (ISBN) 10

• 1424414989

International Standard Book Number (ISBN) 13

• 9781424414987

start page

• 5979

end page

• 5984

URL

• https://ieeexplore.ieee.org/xpl/conhome/4433999/proceeding