Time-optimal graph traversal for two agents: when is formation travel beneficial?
Venkatesh G. Rao, Pierre T. Kabamba · 2004
This paper addresses the question, "when and how should autonomous agents engage in formation travel?" Specifically, we formulate and solve an optimization problem for two agents traversing a graph, under joint velocity constraints. The results are applicable to the problem of constructing optimal trajectories for formation travel. The analysis is illustrated by two examples.