Title :
Time-optimal graph traversal for two agents: when is formation travel beneficial?
Author :
Rao, Venkatesh G. ; Kabamba, Pierre T.
Author_Institution :
Dept. of Aerosp. Eng., Michigan Univ., Ann Arbor, MI, USA
Abstract :
This paper addresses the question, "when and how should autonomous agents engage in formation travel?" Specifically, we formulate and solve an optimization problem for two agents traversing a graph, under joint velocity constraints. The results are applicable to the problem of constructing optimal trajectories for formation travel. The analysis is illustrated by two examples.
Keywords :
graph theory; mobile robots; motion control; optimisation; position control; velocity; arc traversal; autonomous agent; formation travel; joint velocity constraint; motion-planning domain; optimal trajectory; optimization problem; spanning tree; time-optimal graph traversal; transport network; Automated highways; Autonomous agents; Cost benefit analysis; Cost function; Fuels; NASA; Rails; Road transportation; Unmanned aerial vehicles;
Conference_Titel :
American Control Conference, 2003. Proceedings of the 2003
Print_ISBN :
0-7803-7896-2
DOI :
10.1109/ACC.2003.1244032
