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Communication dans un congrès

A Column Generation Approach for Coordination and Control of Multiple UAVs

D. M. Nguyen 1 F. Dambreville 2 Abdelmalek Toumi 3 Jean-Christophe Cexus 3 Ali Khenchaf 2
2 Lab-STICC_ENSTAB_MOM_PIM ; REMS
SETIT - Sciences and Technologies of Image and Telecommunications, STIC - Pôle STIC [Brest], Lab-STICC - Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance
3 Lab-STICC_ENSTAB_CID_TOMS;REMS
STIC - Pôle STIC [Brest], Lab-STICC - Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance
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.
Type de document :
Communication dans un congrès
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https://hal-ensta-bretagne.archives-ouvertes.fr/hal-01131976
Contributeur : Jean-Christophe Cexus <>
Soumis le : lundi 16 mars 2015 - 16:08:35
Dernière modification le : mercredi 24 juin 2020 - 16:19:29

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  • HAL Id : hal-01131976, version 1

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D. M. Nguyen, F. 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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