Optimal cooperation and control of multi-vehicle teams with nonlinear hybrid systems
Based on a nonlinear hybrid dynamical systems model methods for
optimal coordination and control of multiple vehicles are investigated. The
time dependent hybrid state of the overall system consists of discrete (roles, actions) and
continuous (e.g., position, orientation, velocity) state variables of the vehicles involved.
The evolution in time of the system's state is described by a hybrid state automaton. This
approach enables a tight and formal coupling of discrete and continuous state
dynamics, i.e., of dynamic role and action assignment and sequencing as well as of the
physical motion behavior of a single vehicle modeled specificly by nonlinear differential equations
The problem of optimal hybrid state trajectories that minimize a merit function
as time or energy for optimal multi-vehicle cooperation subject to further constraints is
transformed to a mixed-binary dynamic optimization problem studied numerically.