%0 Conference Paper
%F Oral
%T A Column Generation Approach for Coordination and Control of Multiple UAVs
%+ Hanoi National University of Education - Department of Mathematics and Informatics
%+ Lab-STICC_ENSTAB_MOM_PIM
%+ Lab-STICC_ENSTAB_CID_TOMS
%A Nguyen, D. M.
%A Dambreville, Frédéric
%A Toumi, Abdelmalek
%A Cexus, Jean-Christophe
%A Khenchaf, Ali
%< avec comité de lecture
%B 6th International Conference on Modeling, Simulation and Optimization of Complex Processes - HPSCH 2015
%C Hanoi, Vietnam
%8 2015-03-16
%D 2015
%K Trajectory design
%K Mixed integer linear programming
%K Unmanned aerial vehicle
%K Task allocation
%K Column generation
%Z Mathematics [math]/Optimization and Control [math.OC]Conference papers
%X 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.
%G English
%L hal-01131976
%U https://hal-ensta-bretagne.archives-ouvertes.fr/hal-01131976
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