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


  • 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.

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