On-line optimization-based coordination of multiple unmanned vehicles

Abstract

The objective of this work is to investigate on-line optimization-based coordination strategies for robot teams to efficiently accomplish a mission (e.g., reach a set of assigned targets) while avoiding collisions. The multi-robot coordination problem is addressed by solving an on-line receding-horizon mixed-integer program to find some suitable inputs for the vehicles. Simulations results verify the feasibility of our approach.