Publication
Minimal time delivery of multiple robots
| dc.contributor.author | Aguiar, Miguel | |
| dc.contributor.author | Silva, Jorge | |
| dc.contributor.author | Sousa, Joao Borges de | |
| dc.date.accessioned | 2021-09-24T14:21:12Z | |
| dc.date.embargo | 2031-12 | |
| dc.date.issued | 2020 | |
| dc.description.abstract | Consider a set of autonomous vehicles, each one with a preassigned task to start at a given region. Due to energy constraints, and in order to minimize the overall task completion time, these vehicles are deployed from a faster carrier vehicle. This paper develops a dynamic programming (DP) based solution for the problem of finding the optimal deployment location and time for each vehicle, and for a given sequence of deployments, so that the global mission duration is minimal. The problem is specialized for ocean-going vehicles operating under time-varying currents. The solution approach involves solving a sequence of optimal stopping problems that are transformed into a set variational inequalities through the application of the dynamic programming principle (DPP). The optimal trajectory for the carrier and the optimal deployment location and time for each vehicle to be deployed are obtained in feedback-form from the numerical solution of the variational inequalities. The solution is computed with our open source parallel implementation of the fast sweeping method. The approach is illustrated with two numerical examples. | pt_PT |
| dc.description.sponsorship | This paper reports work partially supported by the following projects: "Marine robotics research infrastructure network – EUMR" funded by the EU Horizon 2020 programme under grant agreement No. 731103; "Sistema de Gestão de Operações com base em Veículos Robóticos Inteligentes para a Exploração do Mar Global a partir de Portugal – Oceantech" approved through the Incentive Scheme R&TD Co-promotion Projects and co-funded by the European Regional Development Fund (ERDF), supported by Portugal2020 through Compete2020 (ref POCI-01-0247-FEDER-024508); "European Multidisciplinary Seafloor and Water Column Observatory-Portugal – EMSO-PT’ funded by the ERDF through Compete2020 and by FCT (ref. PINFRA / 22157/2016 – POCI-01-0145-FEDER-022157); and, "Sistema baseado em veículos autónomos para observação oceanográfica de longa duração – ENDURANCE", funded by NORTE2020 under the Portugal2020 Partnership Agreement through ERDF (ref. 17804). | pt_PT |
| dc.description.version | info:eu-repo/semantics/publishedVersion | pt_PT |
| dc.identifier.doi | 10.1109/CDC42340.2020.9304510 | pt_PT |
| dc.identifier.uri | http://hdl.handle.net/10400.22/18541 | |
| dc.language.iso | eng | pt_PT |
| dc.relation | POCI-01-0247-FEDER-024508 | pt_PT |
| dc.relation | Marine robotics research infrastructure network | |
| dc.relation | 17804 | pt_PT |
| dc.relation.publisherversion | https://ieeexplore.ieee.org/abstract/document/9304510 | pt_PT |
| dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/ | pt_PT |
| dc.subject | Task analysis | pt_PT |
| dc.subject | Vehicle dynamics | pt_PT |
| dc.subject | Trajectory | pt_PT |
| dc.subject | Dynamics | pt_PT |
| dc.subject | Dynamic programming | pt_PT |
| dc.subject | Robot sensing systems | pt_PT |
| dc.subject | Robot kinematics | pt_PT |
| dc.title | Minimal time delivery of multiple robots | pt_PT |
| dc.type | conference object | |
| dspace.entity.type | Publication | |
| oaire.awardTitle | Marine robotics research infrastructure network | |
| oaire.awardURI | info:eu-repo/grantAgreement/EC/H2020/731103/EU | |
| oaire.citation.conferencePlace | Jeju, Korea (South) | pt_PT |
| oaire.citation.endPage | 1577 | pt_PT |
| oaire.citation.startPage | 1572 | pt_PT |
| oaire.citation.title | 2020 59th IEEE Conference on Decision and Control (CDC) | pt_PT |
| oaire.fundingStream | H2020 | |
| person.identifier.ciencia-id | E317-FD8E-64C7 | |
| person.identifier.orcid | 0000-0002-0824-9447 | |
| project.funder.identifier | http://doi.org/10.13039/501100008530 | |
| project.funder.name | European Commission | |
| rcaap.rights | embargoedAccess | pt_PT |
| rcaap.type | conferenceObject | pt_PT |
| relation.isAuthorOfPublication | c26e5ef3-f86e-4981-bf42-aeb6f96f658b | |
| relation.isAuthorOfPublication.latestForDiscovery | c26e5ef3-f86e-4981-bf42-aeb6f96f658b | |
| relation.isProjectOfPublication | 0c963d90-cb2f-48e6-bf56-7276f45b9bdd | |
| relation.isProjectOfPublication.latestForDiscovery | 0c963d90-cb2f-48e6-bf56-7276f45b9bdd |
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