Optimal Two-Agent Coordination for Graph Traversal: When Is Formation Travel Beneficial?

V. G. Rao and P. T. Kabamba
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V. G. Rao: Cornell University
P. T. Kabamba: University of Michigan

Journal of Optimization Theory and Applications, 2006, vol. 130, issue 3, No 7, 489-503

Abstract: Abstract The objective of this paper is to pose and solve a simple class of coordinated motion problems that capture the following question; When is formation travel optimal? This class of problems is complementary to two related classes of problems that have received significant attention: close formation travel and the generation of flocking behavior. We pose and solve this problem for the case of two agents traversing a finite, connected graph. Two examples are provided, illustrating the application of the results.

Keywords: Optimal path planning; formation travel; autonomous agents (search for similar items in EconPapers)
Date: 2006
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DOI: 10.1007/s10957-006-9114-8

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