Spatial Distribution of Two-Agent Clusters for Efficient Navigation

Jan De Mot, Eric Feron

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Scopus citations


Coordinated navigation by two cooperating sensor-equipped agents in a partially known static environment is investigated. Each agent observes a local part of the otherwise unknown environment and shares the gathered data with the other agents. In general, dynamic programming techniques suitably model the navigation problem, but are computationally hard to solve. We propose a combined dynamic and linear programming framework to circumvent the curse of dimensionality and establish in the process a firm upper bound on the spatial separation of a two-agent cluster navigating on a structured arbitrarily large graph.
Original languageEnglish (US)
Title of host publicationProceedings of the IEEE Conference on Decision and Control
Number of pages6
StatePublished - Dec 1 2003
Externally publishedYes


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