A Lagrangian-based algorithm for a combinatorial motion planning problem Chapter

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 Springer-Verlag Berlin Heidelberg.

authors

• Darbha, Swaroop
• Rathinam, Sivakumar

author list (cited authors)

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

citation count

• 1

complete list of authors

• Yadlapalli, Sai K||Malik, Waqar A||Darbha, Swaroop||Rathinam, Siva

Book Title

• Advances in Cooperative Control and Optimization

publication date

• October 2007

publisher

• Springer Nature  Publisher

published in

• Lecture Notes in Control and Information Sciences  Journal

keywords

• 46 Information And Computing Sciences
• 4602 Artificial Intelligence
• 49 Mathematical Sciences
• 4901 Applied Mathematics

Digital Object Identifier (DOI)

• 10.1007/978-3-540-74356-9_23

International Standard Book Number (ISBN) 10

• 3540743545

International Standard Book Number (ISBN) 13

• 978-3-540-74354-5

start page

• 373

end page

• +

volume

• 369

URL

• http://dx.doi.org/10.1007/978-3-540-74356-9_23