Motion Coordination in Heterogeneous Ensemble Using Constraint Satisfaction Method
Volodymyr Sherstjuk, Maryna Zharikova, Olena M. Liashenko, Dmytro Kyryichuk, Igor Sokol · 2018
This work presents the motion coordination model for the heterogeneous ensemble of vehicles used in the forest fire-fighting operations. The model is applicable in the case-scenario control systems at the solution adaptation stage. The constraint-satisfaction method that allows keeping spatial configuration satisfying all restrictions during the adaptation stage of the case-scenario decision cycle is presented. It has an acceptable computational complexity.