7 papers
An Exact Algorithm for Load-Dependent Traveling Salesman Problem for Unmanned Aerial Vehicle Package Delivery
Deepak Prakash Kumar, Saurabh Belgaonkar, Sivakumar Rathinam +2
In this article, we present a novel formulation for the load-dependent traveling salesman problem (LD-TSP), in which travel cost (or energy expended) depends on the vehicle's curre…
Mutual Support by Sensor-Attacker Team for a Passive Target
Prajakta Surve, Shaunak D. Bopardikar, Alexander Von Moll +2
We introduce a pursuit game played between a team of a sensor and an attacker and a mobile target in the unbounded Euclidean plane. The target is faster than the sensor, but slower…
A Novel Model for 3D Motion Planning for a Generalized Dubins Vehicle with Pitch and Yaw Rate Constraints
Deepak Prakash Kumar, Swaroop Darbha, Satyanarayana Gupta Manyam +1
In this paper, we propose a new modeling approach and a fast algorithm for 3D motion planning, applicable for fixed-wing unmanned aerial vehicles. The goal is to construct the shor…
Generation of Paths for Motion Planning for a Dubins Vehicle on Sphere
Deepak Prakash Kumar, Swaroop Darbha, Satyanarayana Gupta Manyam +1
In this article, the candidate optimal paths for a Dubins vehicle on a sphere are analytically derived. In particular, the arc angles for segments in , , , and $CCC…
A New Approach to Motion Planning in 3D for a Dubins Vehicle: Special Case on a Sphere
Deepak Prakash Kumar, Swaroop Darbha, Satyanarayana Gupta Manyam +1
In this article, a new model for 3D motion planning, applicable to aerial vehicles, is proposed to connect an initial and final configuration subject to pitch rate and yaw rate con…
One-vs-one Threat-Aware Weaponeering with Basic Engagement Zones
Alexander Von Moll, Dejan Milutinović, Isaac Weintraub +1
In this paper we address the problem of 'weaponeering', i.e., placing the weapon engagement zone (WEZ) of a vehicle on a moving target, while simultaneously avoiding the target's W…
Min-Time Escape of a Dubins Car from a Polygon
Isaac E. Weintraub, Alexander Von Moll, David Casbeer +3
A turn constrained vehicle is initially located inside a polygon region and desires to escape in minimum time. First, the method of characteristics is used to describe the time-opt…