Data Structures and Algorithms
Data Structures and Algorithms
Dynamic Programming
Optimal scheduling for refueling multiple autonomous aerial vehicles
IEEE Transactions on Robotics
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We propose a dynamic programming approach to address the problem of determining how a structured formation of autonomous undistinguishable agents can be reorganized into another, eventually non-rigid, formation based on changes in the environment, perhaps unforeseeable. The methodology can also be used to correctly position the agents into a particular formation from an initial set of random locations. Given the information of the current agents location and the final locations, there are n! possible permutations for the n agents, and we seek the one that minimizes a total relative measure, e.g. distance traveled by the agents during the switching. Possible applications can be found amongst surveillance, damage assessment, chemical or biological monitoring, among others, where the switching to another formation, not necessarily predefined, may be required due to changes in the environment.