The Problem of Spatio-temporally Constrained Motion Planning for Cooperative Vehicles
Stephan Scheuren, Stefan Stiene, Joachim Hertzberg, Ronny Hartanto, Max Reinecke
In Proceedings of the 26th Workshop "Planen, Scheduling und Konfigurieren, Entwerfen "(PuK 2011), (PuK-2011), 04.10.2011, Berlin, o.A., Oct/2011.
We describe the spatio-temporally constrained motion planning problem (stcmp) using the example of harvesting crop with multiple cooperative vehicles. The vehicles have to meet at rendezvous points observing time, location, orientation and velocities to interact. Due to vehicle constraints, the stcmp involves two combinatorial optimization problems that are restricting each other in space and time.