A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2019; you can also visit the original URL.
The file type is application/pdf
.
Multi-Vehicle Trajectory Optimisation On Road Networks
[article]
2018
arXiv
pre-print
This paper addresses the problem of planning time-optimal trajectories for multiple cooperative agents along specified paths through a static road network. Vehicle interactions at intersections create non-trivial decisions, with complex flow-on effects for subsequent interactions. A globally optimal, minimum time trajectory is found for all vehicles using Mixed Integer Linear Programming (MILP). Computational performance is improved by minimising binary variables using iteratively applied
arXiv:1810.02517v1
fatcat:5kmozjtkmbaivib42hhl226nc4