Multiple Marine Vehicle Deconflicted Path Planning with Currents and Communication Constraints

Cooperative Motion Planning for Multiple Autonomous Marine Vehicles

“…In relation to previous work (Häusler et al, 2010) the new approach has the immediate advantages that (a) the algorithm can in general be expected to converge much faster than the previously adopted zero-order optimization, and that (b) we can quickly obtain a trajectory that is feasible both in terms of the vessel dynamics and in terms of the optimization constraints.…”

“…In previous publications (see Häusler et al (2010) and the references therein), we restricted ourselves to a kinematic model of the vehicles under consideration. Optimization constraints related to the dynamics had to be incorporated indirectly by constraining the kinematic model, e.g.…”