Planning Algorithms for a Class of Heterogenous Multi-Vehicle Systems

In this work we focuss on path and mission planning problems in scenarios in which two different vehicles with complementary capabilities are cooperatively employed so as to perform a desired task in an optimal way. In particular, we consider the case in which a vehicle carrier, typically slow but with virtually infinite operativity range, and a carried vehicle, which on the contrary is typically fast but with a shorter operative range, are coordinated to make the faster vehicle visit in the shortest time a certain collection of points. First, we will face a planning problem in which the order of the points to be visited is given a priori according to prescribed takeoff/landing conditions. Such a problem will be solved in an exact way by means of convex optimization arguments. Such a result will be the starting point to address a more complex mission planning problem, a Traveling Salesman Problem (TSP), in which the optimal visiting sequence of points has to be determined. For this latter problem a sub-optimal heuristic will be presented and its properties pointed out.