Path Planning for a Collection of Vehicles With Yaw Rate Constraints Chapter uri icon


  • Multi-vehicle systems are naturally encountered in civil and military applications. Cooperation amongst individual miniaturized vehicles allows for flexibility to accomplish missions that a single large vehicle may not readily be able to accomplish. While accomplishing a mission, motion planning algorithms are required to efficiently utilize a common resource (such as the total fuel in the collection of vehicles) or to minimize a collective cost function (such as the maximum time taken by the vehicles to reach their intended destination). The objective of this chapter is to present a constant factor approximation algorithm for planning the path of each vehicle in a collection of vehicles, where the motion of each vehicle must satisfy yaw rate constraints.

author list (cited authors)

  • Rathinam, S., Sengupta, R., & Darbha, S.

citation count

  • 2

complete list of authors

  • Rathinam, S||Sengupta, R||Darbha, S

editor list (cited editors)

  • Grundel, D., Murphey, R., Pardalos, P., & Prokopyev, O.

Book Title

  • Cooperative Systems: Control and Optimization

publication date

  • January 2007