Time-optimal coordinated control of the relative formation of multiple vehicles

Furukawa, T; Durrant-Whyte, HF; Bourgault, F; Dissanayake, G

Time-optimal coordinated control of the relative formation of multiple vehicles

Furukawa, T Durrant-Whyte, HF Bourgault, F Dissanayake, G

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Publication Type:: Conference Proceeding
Citation:: Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA, 2003, 1 pp. 259 - 264
Issue Date:: 2003-01-01

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Field	Value	Language
dc.contributor.author	Furukawa, T	en_US
dc.contributor.author	Durrant-Whyte, HF	en_US
dc.contributor.author	Bourgault, F	en_US
dc.contributor.author	Dissanayake, G https://orcid.org/0000-0002-7992-0680	en_US
dc.date.issued	2003-01-01	en_US
dc.identifier.citation	Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA, 2003, 1 pp. 259 - 264	en_US
dc.identifier.isbn	0780378660	en_US
dc.identifier.uri	http://hdl.handle.net/10453/2854
dc.description.abstract	© 2003 IEEE. This paper presents a solution to the time-optimal control of the relative formation of multiple vehicles. This is a problem in cooperative time-optimal control with a free terminal state constraint. In this paper, a canonical formulation of the problem is first derived. Then, a numerical technique to solve this class of problem is proposed. Numerical results demonstrate the efficacy of the proposed formulation and solution to the problem of expeditiously building and controlling formations of cooperative autonomous vehicles.	en_US
dc.relation.ispartof	Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA	en_US
dc.relation.isbasedon	10.1109/CIRA.2003.1222099	en_US
dc.title	Time-optimal coordinated control of the relative formation of multiple vehicles	en_US
dc.type	Conference Proceeding
utslib.citation.volume	1	en_US
utslib.for	091007 Manufacturing Robotics and Mechatronics (excl. Automotive Mechatronics)	en_US
utslib.for	090602 Control Systems, Robotics and Automation	en_US
utslib.for	091303 Autonomous Vehicles	en_US
dc.location.activity	Kobe, Japan	en_US
dc.location.activity	KOBE, JAPAN
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	closed_access
pubs.publication-status	Published	en_US
pubs.volume	1	en_US

Abstract:

© 2003 IEEE. This paper presents a solution to the time-optimal control of the relative formation of multiple vehicles. This is a problem in cooperative time-optimal control with a free terminal state constraint. In this paper, a canonical formulation of the problem is first derived. Then, a numerical technique to solve this class of problem is proposed. Numerical results demonstrate the efficacy of the proposed formulation and solution to the problem of expeditiously building and controlling formations of cooperative autonomous vehicles.

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http://hdl.handle.net/10453/2854