Iterative MILP Methods for Vehicle Control Problems

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dc.creatorEarl, Matthew
dc.creatorD'Andrea, Raffaello
dc.date2005-05-16
dc.date.accessioned2026-07-07T06:24:07Z
dc.date.available2026-07-07T06:24:07Z
dc.descriptionMixed integer linear programming (MILP) is a powerful tool for planning and control problems because of its modeling capability and the availability of good solvers. However, for large models, MILP methods suffer computationally. In this paper, we present iterative MILP algorithms that address this issue. We consider trajectory generation problems with obstacle avoidance requirements and minimum time trajectory generation problems. The algorithms use fewer binary variables than standard MILP methods and require less computational effort.
dc.description22 pages, 9 figures, submitted to IEEE Transactions on Robotics, for associated web page see http://control.mae.cornell.edu/earl/milp2
dc.identifierhttps://arxiv.org/abs/cs/0505042
dc.identifierhttp://arxiv.org/abs/cs/0505042
dc.identifierM. G. Earl and R. D'Andrea, "Iterative MILP Methods for Vehicle Control Problems," IEEE Transactions on Robotics, Volume 21, Issue 6, pages 1158-1167, Dec. 2005.
dc.identifier.urihttp://salesiana.dossiersoluciones.com/handle/123456789/96437
dc.subjectRobotics
dc.subjectI.2.9; I.2.8; J.2
dc.titleIterative MILP Methods for Vehicle Control Problems
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