Mechanical Engineering Commons^™

Cooperative Path Planning For Timing Critical Missions, Timothy W. Mclain, Randal W. Beard

Faculty Publications

This paper presents a cooperative path planning approach for teams of vehicles operating under timing constraints. A cooperative control approach based on coordination variables and coordination functions is introduced and applied to cooperative timing problems. Three types of timing constraints are considered: simultaneous arrival, tight sequencing, and loose sequencing. Simulation results demonstrating the approach are presented.