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Version skapad av Petter Ögren 2015-02-17 23:59

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: Implement the 3 different formation keeping algorithms (virtual structure, leader following and local interaction) using the kinematic point model
T6: Implement the 3 different formation keeping algorithms for all motion models, by controlling each vehicle towards a point, the motion of which is given by T5 above.

Same as in Assignment 1. Use the wiki-pages.