In this paper we develop a framework based on disjunctive programming for motion planning of robotic networks. Although the methodology presented in this paper can be applied to general motion planning problems we focus on coordinating a team of mobile routers to maintain connectivity between a fixed base station and a mobile user within a walled environment. This connectivity management problem is decomposed into three steps: (i) a feasible line-of-sight path between the base station and the mobile user is computed; (ii) the number of required routers and their goal locations are determined; and (iii) the motion planning with obstacle and inter-vehicle collision avoidance problem is solved. To illustrate the flexibility of the proposed approach we also formulate a novel motion planning algorithm for a team of mobile robots as a disjunctive program. Cell decomposition is used to take into account the size and orientation of the robots. In both cases, connectivity and motion planning, the mixed-integer optimization problems are solve using CPLEX. Moreover, the proposed approach can easily accommodate input and other constraints and mission objectives. Simulation results show the applicability of the proposed strategy.
In REF a chain of mobile routers is used to keep line of sight communication between a base station and a user that moves in a concave environment.
A DISJUNCTIVE PROGRAMMING APPROACH FOR MOTION PLANNING OF MOBILE ROUTER NETWORKS
Int. J. Robotics Autom.
Int. J. Robotics Autom.
Computer Science