Waypoint selection in constrained domains (for cooperative systems)

This chapter presents a new framework for multiple vehicle systems modeling and control, emphasizing team behavior in a multi-level, multi-resolution way. To set the common reference trajectory for team vehicles, a waypoint selection strategy is proposed taking into account the dimensions of the free space and practical aspects of motion generation. The multi-vehicle cooperative parking strategy is proposed so that a "class" of problems can be solved by formation reconfiguration. The study focuses on several cases corresponding to different scenarios.