SNOPT: An SQP Algorithm for Large-Scale Constrained Optimization
SIAM Journal on Optimization
The K-Neigh Protocol for Symmetric Topology Control in Ad Hoc Networks
Proceedings of the 4th ACM international symposium on Mobile ad hoc networking & computing
The number of neighbors needed for connectivity of wireless networks
Wireless Networks
Iterative MILP methods for vehicle-control problems
IEEE Transactions on Robotics
Control of systems integrating logic, dynamics, and constraints
Automatica (Journal of IFAC)
Movement control algorithms for realization of fault-tolerant ad hoc robot networks
IEEE Network: The Magazine of Global Internetworking
Path Planning for UAVs Under Communication Constraints Using SPLAT! and MILP
Journal of Intelligent and Robotic Systems
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A new planning method for optimal cooperative control of heterogeneous multi-vehicle systems is investigated which enables to account for each vehicle's nonlinear physical motion dynamics in a structured environment as well as for connectivity constraints of wireless communication. A general formulation as nonlinear hybrid optimal control problem (HOCP) is presented. A transformation technique is proposed to reduce the large computational efforts for solving HOCPs towards a future online application of this approach. Hereby the general problem is transcribed to a linearized mixed-integer linear programming problem (MILP) which can be solved much more efficiently. The proposed approach is successfully applied to the numerical solution of a representative, cooperative monitoring problem involving heterogeneous vehicles and conditions.