Publications [#289480] of Silvia Ferrari

Papers Published

1. Bezzo, N; Fierro, R; Swingler, A; Ferrari, S, A disjunctive programming approach for motion planning of mobile router networks, International Journal of Robotics and Automation, vol. 26 no. 1 (March, 2011), pp. 13-25, ACTA Press, ISSN 0826-8185 [doi]
   (last updated on 2021/09/05)

   Abstract:
   In this paper we develop a framework based on disjunctive programming for motion planning of robotic networks. Although the methodology presented in this paper can be applied to general motion planning problems we focus on coordinating a team of mobile routers to maintain connectivity between a fixed base station and a mobile user within a walled environment. This connectivity management problem is decomposed into three steps: (i) a feasible line-of-sight path between the base station and the mobile user is computed; (ii) the number of required routers and their goal locations are determined; and (iii) the motion planning with obstacle and inter-vehicle collision avoidance problem is solved. To illustrate the flexibility of the proposed approach we also formulate a novel motion planning algorithm for a team of mobile robots as a disjunctive program. Cell decomposition is used to take into account the size and orientation of the robots. In both cases, connectivity and motion planning, the mixed-integer optimization problems are solved using CPLEX. Moreover, the proposed approach can easily accommodate input and other constraints and mission objectives. Simulation results show the applicability of the proposed strategy.