Researching Performance of the Dubins Vehicle’s Hybrid Model with a Single Separation of the Control Objects
The problem of the performance of a hybrid system in which the number of control objects changes during its operation is considered. Movement is started by one control object (carrier). At some point in time, several moving objects are separated from it and sent to specified terminal states (targets...
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| Published in | Journal of computer & systems sciences international Vol. 63; no. 1; pp. 88 - 103 |
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| Main Authors | , |
| Format | Journal Article |
| Language | English |
| Published |
Moscow
Pleiades Publishing
01.02.2024
Springer Nature B.V |
| Subjects | |
| Online Access | Get full text |
| ISSN | 1064-2307 1555-6530 |
| DOI | 10.1134/S1064230724700072 |
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| Abstract | The problem of the performance of a hybrid system in which the number of control objects changes during its operation is considered. Movement is started by one control object (carrier). At some point in time, several moving objects are separated from it and sent to specified terminal states (targets). The carrier is represented by a hybrid model of the Dubins vehicle, allowing trajectories of unlimited curvature. The movement of separated objects is rectilinear with limited speeds and accelerations. The problem of minimizing the time to achieve all targets is solved. |
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| AbstractList | The problem of the performance of a hybrid system in which the number of control objects changes during its operation is considered. Movement is started by one control object (carrier). At some point in time, several moving objects are separated from it and sent to specified terminal states (targets). The carrier is represented by a hybrid model of the Dubins vehicle, allowing trajectories of unlimited curvature. The movement of separated objects is rectilinear with limited speeds and accelerations. The problem of minimizing the time to achieve all targets is solved. |
| Author | Bortakovskii, A. S. Uryupin, I. V. |
| Author_xml | – sequence: 1 givenname: A. S. surname: Bortakovskii fullname: Bortakovskii, A. S. email: asbortakov@mail.ru organization: Moscow Aviation Institute (National Research University), National University of Science and Technology (MISiS) – sequence: 2 givenname: I. V. surname: Uryupin fullname: Uryupin, I. V. email: uryupin93@yandex.ru organization: Federal Research Center “Computer Science and Control” of the Russian Academy of Sciences |
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| Cites_doi | 10.1134/S1064562409030041 10.1134/S1064230723030115 10.1007/s10846-018-0910-9 10.1134/S0005117921050015 10.3969/j.issn.1004-4132.2010.05.016 10.1016/j.vehcom.2022.100469 10.1134/S1064230722040037 10.2307/2372560 10.1134/S1064230721030047 10.2140/pjm.1990.145.367 10.1007/s10958-023-06376-3 10.1134/S1064230723050040 |
| ContentType | Journal Article |
| Copyright | Pleiades Publishing, Ltd. 2024. ISSN 1064-2307, Journal of Computer and Systems Sciences International, 2024, Vol. 63, No. 1, pp. 88–103. © Pleiades Publishing, Ltd., 2024. Pleiades Publishing, Ltd. 2024. |
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| References_xml | – reference: V. N. Evdokimenkov, M. N. Krasil’shchikov, and S. D. Orkin, Control of Mixed Groups of Manned and Unmanned Aerial Vehicles in a Unified Information and Control Field (MAI, Moscow, 2015) [in Russian]. – reference: DubinsL. E.On curves of minimal length with a constraint on average curvature, and with prescribed initial and terminal positions and tangentsAm. Math.1957794975168945710.2307/2372560 – reference: TsourdosA.WhiteB.ShanmugavelM.Cooperative Path Planning of Unmanned Aerial Vehicles2011New YorkWiley and Sons – reference: ZelikinM. I.BorisovV. F.“Synthesis of optimal controls with accumulation of switchings,” Itogi Nauki Tekh., Ser. Sovrem. Mat. Pril., TematObz.2002905189 – reference: GoncharenkoV. I.ZheltovS. Yu.Knyaz’V. A.LebedevaG. N.MikhailinaD. A.TsarevaO. Yu.Intelligent system for planning group actions of unmanned aircraft in observing mobile objects on the ground in the specified areaJ. Comput. Syst. Sci. Int.20216037939510.1134/S1064230721030047 – reference: KalyaevI. A.GaidukA. R.KapustyanS. G.Models and Algorithms of Combined Control over Robot Groups2009MoscowFizmatlit[in Russian] – reference: BerdyshevYu. I.Speed-optimal control of a generalized Dubins machineTr. Inst. Mat. Modell. Ural. Otd. Ross. Akad. Nauk2016222635 – reference: R. Isaacs, Games of Pursuit, Sci. Rep. (RAND Corporation, Santa Monica, 1951). – reference: ZengJ.YangX.YangL.ShenG.Modeling for UAV resource scheduling under mission synchronizationJ. Syst. Eng. Electron.20102182182610.3969/j.issn.1004-4132.2010.05.016 – reference: BuzikovM. E.GalyaevA. A.Time-optimal interception of a moving target by a Dubins carAutom. Remote Control202182745758444234410.1134/S0005117921050015 – reference: KurzhanskiiA. B.The problem of control for multi-agent motion: General relationsDokl. Math.200979314318254320710.1134/S1064562409030041 – reference: SavelovA. A.Flat Curves. Taxonomy, Properties, Applications (Reference Guide)1960MoscowFizmatgiz[in Russian] – reference: F. Clarke, Optimization and Nonsmooth Analysis (Wiley, New York, 1983; Nauka, Moscow, 1988). – reference: BortakovskiiA. S.Fastest planar motion trajectories with unlimited curvatureJ. Comput. Syst. Sci. Int.202261512522447318710.1134/S1064230722040037 – reference: BortakovskiiA. S.Speed of performance of a group of controlled objectsJ. Comput. Syst. Sci. Int.202362774799469636510.1134/S1064230723050040 – reference: A. A. Galyaev and E. Ya. Rubinovich, “Planning the movement of moving objects in a conflict environment,” in Analytical Mechanics, Stability and Control: Proceedings of the XI International Chetaev Conference (Plenary Reports) (KNITU-KAI, Kazan, 2017), pp. 71–90. – reference: PontryaginL. S.BoltyanskiiV. G.GamkrelidzeR. V.MishchenkoE. F.Mathematical Theory of Optimal Processes1961MoscowFizmatgiz[in Russian] – reference: BabelL.Coordinated target assignment and UAV path planning with timing constraintsJ. Intell. Robotic Syst.20199485786910.1007/s10846-018-0910-9 – reference: MohsanS. A. H.OthmanN. Q. H.LiY.Unmanned aerial vehicles (UAVs): Practical aspects, applications, open challenges, security issues, and future trendsIntell. Serv. Rob.202316109137 – reference: ReedsJ. A.SheppL. A.Optimal paths for a car that goes both forwards and backwardsPac. J. Math.1990145367393106989210.2140/pjm.1990.145.367 – reference: S. Poudel and S. Moh, “Task assignment algorithms for unmanned aerial vehicle networks: A comprehensive survey,” Veh. Commun. 35, 100469 (2022). – reference: MarkovA. A.“Several examples of solving special types of problems of largest and smallest quantities,” Soobshch. Khar’k. MatO-va, Ser. 218891250276 – reference: AgrachevA. A.SachkovYu. L.Geometric Control Theory2005MoscowFizmatlit[in Russian] – reference: PatskoV. S.FedotovA. A.Three-dimensional reachability set for a Dubins car: Reduction of the general case of rotation constraints to the canonical caseJ. Comput. Syst. Sci. Int.202362445468468902410.1134/S1064230723030115 – reference: BortakovskiiA. S.Necessary optimality conditions for hybrid system of variable dimension with intermediate constraintsJ. Math. Sci.2022270640653457827410.1007/s10958-023-06376-3 – ident: 7428_CR22 – volume-title: Geometric Control Theory year: 2005 ident: 7428_CR24 – volume: 1 start-page: 250 year: 1889 ident: 7428_CR13 publication-title: O-va, Ser. 2 – volume-title: Cooperative Path Planning of Unmanned Aerial Vehicles year: 2011 ident: 7428_CR6 – volume: 90 start-page: 5 year: 2002 ident: 7428_CR18 publication-title: Obz. – ident: 7428_CR4 – volume: 79 start-page: 314 year: 2009 ident: 7428_CR2 publication-title: Dokl. Math. doi: 10.1134/S1064562409030041 – ident: 7428_CR11 – volume-title: Mathematical Theory of Optimal Processes year: 1961 ident: 7428_CR21 – volume: 16 start-page: 109 year: 2023 ident: 7428_CR12 publication-title: Intell. Serv. Rob. – ident: 7428_CR15 – volume-title: Models and Algorithms of Combined Control over Robot Groups year: 2009 ident: 7428_CR1 – volume: 62 start-page: 445 year: 2023 ident: 7428_CR20 publication-title: J. Comput. Syst. Sci. Int. doi: 10.1134/S1064230723030115 – volume: 94 start-page: 857 year: 2019 ident: 7428_CR8 publication-title: J. Intell. Robotic Syst. doi: 10.1007/s10846-018-0910-9 – volume-title: Flat Curves. Taxonomy, Properties, Applications (Reference Guide) year: 1960 ident: 7428_CR26 – volume: 82 start-page: 745 year: 2021 ident: 7428_CR10 publication-title: Autom. Remote Control doi: 10.1134/S0005117921050015 – volume: 21 start-page: 821 year: 2010 ident: 7428_CR7 publication-title: J. Syst. Eng. Electron. doi: 10.3969/j.issn.1004-4132.2010.05.016 – ident: 7428_CR9 doi: 10.1016/j.vehcom.2022.100469 – volume: 61 start-page: 512 year: 2022 ident: 7428_CR19 publication-title: J. Comput. Syst. Sci. Int. doi: 10.1134/S1064230722040037 – volume: 79 start-page: 497 year: 1957 ident: 7428_CR14 publication-title: Am. Math. doi: 10.2307/2372560 – volume-title: Mathematical Theory of Optimal Processes year: 1961 ident: 7428_CR25 – volume: 60 start-page: 379 year: 2021 ident: 7428_CR5 publication-title: J. Comput. Syst. Sci. Int. doi: 10.1134/S1064230721030047 – volume: 145 start-page: 367 year: 1990 ident: 7428_CR16 publication-title: Pac. J. Math. doi: 10.2140/pjm.1990.145.367 – volume: 22 start-page: 26 year: 2016 ident: 7428_CR17 publication-title: Tr. Inst. Mat. Modell. Ural. Otd. Ross. Akad. Nauk – volume: 270 start-page: 640 year: 2022 ident: 7428_CR23 publication-title: J. Math. Sci. doi: 10.1007/s10958-023-06376-3 – volume: 62 start-page: 774 year: 2023 ident: 7428_CR3 publication-title: J. Comput. Syst. Sci. Int. doi: 10.1134/S1064230723050040 |
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| SubjectTerms | Aircraft Control Engineering Equality Hybrid systems Mechatronics Optimal Control Robotics Unmanned aerial vehicles Velocity |
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| Title | Researching Performance of the Dubins Vehicle’s Hybrid Model with a Single Separation of the Control Objects |
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