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This paper studies the multivehicle task assignment problem where several dispersed vehicles need to visit a set of target locations in a time-invariant drift field while trying to minimize the total travel time. Using optimal control theory, we first design a path planning algorithm to minimize the time for each vehicle to travel between two given locations in the drift field. The path planning algorithm...
This paper investigates the task assignment problem for multiple dispersed robots constrained by limited communication range. The robots are initially randomly distributed and need to visit several target locations while trying to minimize the total travel distance. A centralized rendezvous-based algorithm is proposed, under which all the robots first move towards a rendezvous position until communication...
This paper considers a novel algorithm for the routing problem of autonomous underwater vehicles (AUVs) in order to deliver customized sensor packages to mission targets at scattered positions. We aim to utilize a set of AUVs to serve all the targets for exactly once on the premise of individual limited sensor packages loading ability while guaranteeing the least total energy cost in the presence...
A coverage control algorithm in unknown environment is proposed for the multi-vehicle systems in this paper. The measurement white-noise is taken into consideration while learning the interest information online. The Kalman Filter (KF) is introduced to eliminate the noise disturbance and provide us a set of accurately sampled-data. Then, we describe an adaptive algorithm to approximate the sensory...
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