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In this paper, we consider the problem of minimum-time rendezvous of a team of Dubins vehicle at a pre-assigned destination point starting from arbitrary initial configurations. We impose an additional constraint that the separation between arrival angles of successive team members at the destination be equal. We propose a decentralized algorithm that solves the problem up to a desired level of accuracy...
In this paper, we study minimum-time motion planning and routing problems for the Dubins vehicle, i.e., a nonholonomic vehicle that is constrained to move along planar paths of bounded curvature, without reversing direction. Motivated by autonomous aerial vehicle applications, we consider the traveling salesperson problem for the Dubins vehicle (DTSP): given n points on a plane, what is the shortest...
In this paper we propose some novel path planning strategies for a double integrator with bounded velocity and bounded control inputs. First, we study the following version of the Traveling Salesperson Problem (TSP): given a set of points in Ropfd, find the fastest tour over the point set for a double integrator. We first give asymptotic bounds on the time taken for to complete such a tour in the...
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