Paper Info
Title
Dynamic optimal control of multiple depot vehicle routing problem with metric temporal logic
Abstract
This paper discusses a class of mission planning problems that generalizes the standard Multiple Depot Vehicle Routing Problem with Time Windows (MDVRPTW) to incorporate complicated technical constraints. These constraints are specified via Metric Temporal Logic (MTL). A tree search algorithm is provided to solve that novel MDVRPTW with MTL specifications (MDVRPMTL) to optimality. In this work, we use tree search algorithm to seek the optimal flyable trajectories for teams of UAVs starting from different depots to complete missions with complicated time and technical requirements. Then a Stochastic Dynamic Programming (SDP) based algorithm is proposed to dynamically tune the UAV teams in order to secure them against adversarial actions. Examples for practical mission planning problems, in which MTL is used as a high level language to specify complex mission tasks, are presented and discussed in the paper.
Year
DOI
Venue
2009
10.1109/ACC.2009.5160144
ACC'09 Proceedings of the 2009 conference on American Control Conference
Keywords
DocType
ISSN
technical requirement,complicated time,mtl specification,dynamic optimal control,technical constraint,metric temporal logic,complex mission task,multiple depot vehicle,mission planning problem,novel mdvrptw,practical mission planning problem,tree search algorithm,remotely operated vehicles,stochastic dynamic programming,control systems,intelligent sensors,cost function,planning,mobile robots,vehicle dynamics,optimal control,routing,temporal logic,search algorithm,logic,high level language
Conference
0743-1619
Citations 
PageRank 
References 
4
0.77
6
Authors
3
Name
Order
Citations
PageRank
Mariam Faied1144.67
Ahmed Mostafa2101.39
Anouck R. Girard3456.35