Robust communication connectivity for multi-robot path coordination using Mixed Integer Nonlinear Programming: Formulation and feasibility analysis

Abstract

Mixed Integer Nonlinear Programming (MINLP) techniques are increasingly used to address challenging problems in robotics, especially Multi-Vehicle Motion Planning (MVMP). A particular challenge in using this framework is encoding stochastic phenomena such as communication connectivity in the form of MINLP constraints. © 2013 IEEE.