| author | = | {M. Klau\v{c}o and S. Bla\v{z}ek and M. Kvasnica and M. Fikar}, |
| title | = | {Mixed-Integer SOCP Formulation of the Path Planning Problem for Heterogeneous Multi-Vehicle Systems}, |
| booktitle | = | {European Control Conference 2014}, |
| year | = | {2014}, |
| pages | = | {1474-1479}, |
| address | = | {Strasbourg, France}, |
| annote | = | {We consider the path planning problem for heterogeneous multi-vehicle systems. In such a setup an agile vehicle,
which can move quickly but has limited operating range, is
carried by a carrier vehicle that moves slowly but has large
range. The objective is to devise an optimal path for the multivehicle system such that all desired points are visited as quickly
as possible, while respecting all physical constraints. We show
how to translate the mixed-integer nonlinear formulation of
such a problem into a mixed-integer second-order cone problem
that can be solved much more efficiently. The translation
process employs basic concepts of propositional logic and
is not conservative. Efficacy of the proposed formulation is
demonstrated on a large case study.}, |
| url | = | {https://www.uiam.sk/assets/publication_info.php?id_pub=1499} |
}