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.

Cooperative Mission Planning for a Class of Carrier-Vehicle Systems

NALDI, ROBERTO;
2010

Abstract

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.
2010
Proceedings of the IEEE Conference on Decision and Control
1354
1359
E. Garone; R. Naldi; A. Casavola; E. Frazzoli
File in questo prodotto:
Eventuali allegati, non sono esposti

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11585/115643
 Attenzione

Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo

Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 18
  • ???jsp.display-item.citation.isi??? 12
social impact