Numerical recipes in C: the art of scientific computing
Numerical recipes in C: the art of scientific computing
Introduction to knowledge systems
Introduction to knowledge systems
Games solved: now and in the future
Artificial Intelligence - Chips challenging champions: games, computers and Artificial Intelligence
Computers and Intractability; A Guide to the Theory of NP-Completeness
Computers and Intractability; A Guide to the Theory of NP-Completeness
Introduction to Algorithms
Multiagent Systems: A Survey from a Machine Learning Perspective
Autonomous Robots
Heavy-Tailed Phenomena in Satisfiability and Constraint Satisfaction Problems
Journal of Automated Reasoning
Parallel branch and cut for capacitated vehicle routing
Parallel Computing - Special issue: Parallel computing in logistics
Iterative MILP methods for vehicle-control problems
IEEE Transactions on Robotics
Survey Constrained model predictive control: Stability and optimality
Automatica (Journal of IFAC)
Distributed receding horizon control for multi-vehicle formation stabilization
Automatica (Journal of IFAC)
Information Sciences: an International Journal
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We use a decomposition approach to generate cooperative strategies for a class of multi-vehicle control problems. By introducing a set of tasks to be completed by the team of vehicles and a task execution method for each vehicle, we decompose the problem into a combinatorial component and a continuous component. The continuous component of the problem is captured by task execution, and the combinatorial component is captured by task assignment. In this paper, we present a solver for task assignment that generates near-optimal assignments quickly and can be used in real-time applications. To motivate our methods, we apply them to an adversarial game between two teams of vehicles. One team is governed by simple rules and the other by our algorithms. In our study of this game we found phase transitions, showing that the task assignment problem is most difficult to solve when the capabilities of the adversaries are comparable. Finally, we utilize our algorithms in a hierarchical model predictive control architecture with a variable replanning rate at each level to provide feedback in dynamically changing and uncertain environments.