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OPTIMAL TASK ALLOCATION AND DYNAMIC TRAJECTORY PLANNING FOR MULTI-VEHICLE SYSTEMS USING NONLINEAR HYBRID OPTIMAL CONTROL
2006
IFAC Proceedings Volumes
Based on a nonlinear hybrid dynamical systems model a new planning method for optimal coordination and control of multiple unmanned vehicles is investigated. The time dependent hybrid state of the overall system consists of discrete (roles, actions) and continuous (e.g. position, orientation, velocity) state variables of the vehicles involved. The evolution in time of the system's hybrid state is described by a hybrid state automaton. The presented approach enables a tight and formal coupling
doi:10.3182/20061002-2-br-4906.00008
fatcat:wpnnoapfdjbftirii5gvgjzvee