Assignment 2

In this assignment, you will solve problems involving multiple agents.

* T1 (MTSP in a Maze): Given a discrete map, as in Assignment 1, starting positions of N vehicle s and M customers, find paths for all N vehicles such that all M customers are visitied in (approximately) minimum time. Note that the vehicles must avoid collisions, i.e. they cannot pass through each other, or enter the same position at the same time.
* T2 (MTSP in polygonal map): Given a polygonal map, as in Assignment 1, starting positions of N vehicles and M customers, find paths for all N vehicles such that all M customers are visited in (approximately) minimum time. Assume that the vehicles occupy circular discs with radii R.
* T3: (Obstacle avoidance in empty space) Given an empty space, N vehicle starting positions, and a given destination for each vehicle. Solve the problem of reaching that destination without colliding with the other vehicles. Solve the problem in a decentralized manner (i.e. each vehicle has no knowledge of the starting positions or destinations of the others).
* T4: (mini Darpa Urban Challenge) Solve the same problem as above in a polygonal environment.
* T5:
* MTSP (with collisions in maze)
* Formation maintenance
* Benefits of formations (kex)
* Search through graph