Abstract
AbstractMissions with high combinatorial complexity involving several logical and temporal constraints often arise in cooperative control of multiple Uninhabited Aerial Vehicles. In this paper, we propose a new class of problems that generalizes the standard Vehicle Routing Problem (VRP) by addressing complex tasks and constraints on the mission, called the ‘mission specifications’, expressed in a high‐level specification language. In the generalized problem setup, these mission specifications are naturally specified using the Linear Temporal Logic language LTL−X. Using a novel systematic procedure, the LTL−Xspecification is converted to a set of constraints suitable to a Mixed‐Integer Linear Programming (MILP) formulation, which in turn can be incorporated into two widely‐used MILP formulations of the standard VRP. Solving the resulting MILP provides an optimal plan that satisfies the given mission specification. The paper also presents two mission planning applications. Copyright © 2011 John Wiley & Sons, Ltd.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
More From: International Journal of Robust and Nonlinear Control
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.