Resource Allocation Algorithm for Multi-Vehicle Systems with Non holnomic Constraints

Sivakumar Rathinam, Raja Sengupta and Swaroop Darbha

Institute of Transportation Studies, Research Reports, Working Papers, Proceedings from Institute of Transportation Studies, UC Berkeley

Abstract: Multi-vehicle systems are naturally encountered in civil and military applications. Cooperation amongst individual "miniaturized" vehicles allows for flexibility to accomplish missions that a single large vehicle may not readily be able to accomplish. While accomplishing a mission, motion planning algorithms are required to efficiently utilize a common resource (such as the total fuel in the collection of vehicles) or to penalize a collective cost function (such as to minimize the maximum time taken by the vehicles to reach their intended target). The objective of this paper is to present a constant factor approximation algorithm for planning the path of each vehicle in a collection of vehicles, where the motion of each vehicle must satisfy non-holonomic constraints.

Keywords: Modeling; and; Network; Analysis (search for similar items in EconPapers)
Date: 2005-05-01
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