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 vehicles 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