Abstract
We consider a combinatorial motion planning problem (CMP) that naturally arises in many applications involving unmanned aerial vehicles (UAVs) with fuel and motion constraints. The motion constraint we consider is the inability of a vehicle to turn at an arbitrary yaw rate. The CMP is a generalization of a single Travelling Salesman Problem and is NP-Hard. In this paper, we exploit the combinatorial structure of the problem and provide heuristics with computational results to address the same.
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Yadlapalli, S.K., Malik, W.A., Darbha, S., Rathinam, S. (2007). A Lagrangian-Based Algorithm for a Combinatorial Motion Planning Problem. In: Pardalos, P.M., Murphey, R., Grundel, D., Hirsch, M.J. (eds) Advances in Cooperative Control and Optimization. Lecture Notes in Control and Information Sciences, vol 369. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-74356-9_23
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DOI: https://doi.org/10.1007/978-3-540-74356-9_23
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