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Resource Allocation Algorithm for Multi-Vehicle Systems with Non holnomic Constraints

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  • Rathinam, Sivakumar
  • Sengupta, Raja
  • Darbha, Swaroop

Abstract

Multi-vehicle systems are naturally encountered in civil and military applications. Cooperation amongst individual "miniaturized" vehicles allows for flexibility to accomplish missions that a single large vehicle may not readily be able to accomplish. While accomplishing a mission, motion planning algorithms are required to efficiently utilize a common resource (such as the total fuel in the collection of vehicles) or to penalize a collective cost function (such as to minimize the maximum time taken by the vehicles to reach their intended target). The objective of this paper is to present a constant factor approximation algorithm for planning the path of each vehicle in a collection of vehicles, where the motion of each vehicle must satisfy non-holonomic constraints.

Suggested Citation

  • Rathinam, Sivakumar & Sengupta, Raja & Darbha, Swaroop, 2005. "Resource Allocation Algorithm for Multi-Vehicle Systems with Non holnomic Constraints," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt2qr347j1, Institute of Transportation Studies, UC Berkeley.
    • Handle: RePEc:cdl:itsrrp:qt2qr347j1
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    Keywords

    Modeling and Network Analysis;

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