| author | = | {M. Klau\v{c}o and S. Bla\v{z}ek and M. Kvasnica}, |
| title | = | {An Optimal Path Planning Problem for Heterogeneous Multi-Vehicle Systems}, |
| journal | = | {International Journal of Applied Mathematics and Computer Science}, |
| year | = | {2016}, |
| keyword | = | {path planning, multi-vehicle system, mixed-integer programming}, |
| volume | = | {26}, |
| number | = | {2}, |
| pages | = | {297-308}, |
| annote | = | {A path planning problem for a heterogeneous vehicle is considered. Such a vehicle consists of two parts which have the
ability to move individually, but one of them has a shorter range and is therefore required to keep in a close distance to the
main vehicle. The objective is to devise an optimal path of minimal length under the condition that at least one part of the
heterogeneous system visits all desired waypoints exactly once. Two versions of the problem are considered. One assumes
that the order in which the waypoints are visited is known a priori. In such a case we show that the optimal path can be
found by solving a mixed-integer second-order cone problem. The second version assumes that the order in which the
waypoints are visited is not known a priori, but can be optimized so as to shorten the length of the path. Two approaches to
solve this problem are presented and evaluated with respect to computational complexity.}, |
| doi | = | {10.1515/amcs-2016-0021}, |
| url | = | {https://www.uiam.sk/assets/publication_info.php?id_pub=1735} |
}