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

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Conference Proceeding
Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA, 2003, 1 pp. 259 - 264
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© 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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