Temporally and Spatially Deconflicted Path Planning for Multiple Autonomous Marine Vehicles

Multiple Marine Vehicle Deconflicted Path Planning with Currents and Communication Constraints

“…On the other hand, in the case path following, if the vehicle for any reason cannot follow the desired speed or stops for some time, it still can continue following the path with the given speed profile. See Häusler et al (2009b) for more detail.…”

“…The key point of our technique, as first introduced by Yakimenko (2000) and later on extended by Kaminer et al (2006Kaminer et al ( , 2007, is the separation of spatial and temporal path description. (For a thorough supportive argumentation, please refer to Häusler et al (2009b).) Due to this separation, the optimization process can be viewed as a method to produce pathsp i (τ i ) without explicit time constraints, but with timing laws η i (τ ) that effectively dictate how the nominal speed of each vehicle should evolve along the path.…”

Cooperative Control of Multiple Marine Vehicles Theoretical Challenges and Practical Issues

“…However, they go one step further in that they must explicitly take into account such issues as inter-vehicle collision avoidance and simultaneous times of arrival. See Häusler et al [2009] and the references therein.…”

“…The techniques that we developed for multiple vehicle path planning are based upon and extend the work reported in Kaminer et al [2007] for unmanned air vehicles. See Ghabcheloo et al [2009b] and Häusler et al [2009] for recent work on the subject, with applications to autonomous marine vehicles. Explained in intuitive terms, the key idea exploited is to separate spatial and temporal specifications, effectively decoupling the process of spatial path computation from that of computing the desired speed profiles for the vehicles along those paths.…”

A Trajectory-Generation Framework for Time-Critical Cooperative Missions

“…Theorem 17.1 in Ref 17. states that the Pythagorean condition(14) is satisfied, if and only if x ′ (ζ), y ′ (ζ), and σ(ζ) can be expressed in terms of other polynomials u(ζ), v(ζ), and w(ζ) in the form…”