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Cooperative mission planning for a class of carrier-vehicle systems

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4 Author(s)
Garone, E. ; Univ. della Calabria, Rende, Italy ; Naldi, R. ; Casavola, A. ; Frazzoli, E.

In this work we focus on mission planning problems in scenarios in which a carrier vehicle, typically slow but with virtually infinite range, and a carried vehicle, which on the contrary is typically fast but has a shorter range, are coordinated to make the faster vehicle visit a given collection of points in minimum time. In particular in this paper we will address two mission planning problems: a first one, in which we have to sequentially visit a list of points under the hypothesis the takeoff/landing sequence is not determined a priori and a second one, a Traveling Salesman Problem (TSP), in which the optimal visiting sequence of points has to be determined. Those two problems will be analyzed, sub-optimal heuristics will be presented and their properties pointed out.

Published in:

Decision and Control (CDC), 2010 49th IEEE Conference on

Date of Conference:

15-17 Dec. 2010