Mathematical Programming Approaches for Multi-Vehicle Motion Planning: Linear, Nonlinear, and Mixed Integer Programming

Real world Multi-Vehicle Motion Planning (MVMP) problems require the optimization of suitable performance measures under an array of complex and challenging constraints involving kinematics, dynamics, collision avoidance, and communication connectivity. The general MVMP problem is thus formulated as a Mathematical Programming (Optimization) problem. In this monograph, we present a Mathematical Programming (MP) framework that captures the salient features of the general MVMP problem. To demonstrate the use of MP for the formulation and solution of MVMP problems, we examine in detail four representative works and summarize several other related ones. Full text available at: http://dx.doi.org/10.1561/2300000025