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Conference Papers Year : 2015

A Column Generation Approach for Coordination and Control of Multiple UAVs

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Abstract

In this work, we consider the problem of autonomous task allocation and trajectory planning for a set of UAVs. This is a bi-level problem: the upper-level is a task assignment problem, subjected to UAV capability constraints; the lower-level constructs the detailed trajectory of UAVs, subjected to dynamics, avoidance and dependency constraints. Although the entire problem can be formulated as a mixed-integer linear program (MILP), and thus it can be solved by available software, the computational time increases intensively. For solving more efficiently this problem we propose a new approach based on the column generation method. Then, the two branching techniques will be investigated in order to obtain a branch-and-price scheme for this problem. The efficiency of our approach is evaluated by comparing with solution given by CPLEX on different scenarios.
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Dates and versions

hal-01131976 , version 1 (16-03-2015)

Identifiers

  • HAL Id : hal-01131976 , version 1

Cite

D. M. Nguyen, Frédéric Dambreville, Abdelmalek Toumi, Jean-Christophe Cexus, Ali Khenchaf. A Column Generation Approach for Coordination and Control of Multiple UAVs. 6th International Conference on Modeling, Simulation and Optimization of Complex Processes - HPSCH 2015, Mar 2015, Hanoi, Vietnam. ⟨hal-01131976⟩
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