# On-line Optimization-based Coordination of Multiple Unmanned Vehicles

> The objective of this work is to investigate on-line optimization-based coordination strategies for robot teams to efficiently accomplish a mission (eg, reach a set of assigned targets) while avoiding collisions. The multi-robot coordination problem is addressed by solving an on-line…

**Last updated:** 2025-12-29

**Source:** https://r2r.tech/articles/line-optimization-based-coordination-multiple-unmanned-vehicles

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### Authors

 Rafael Fierro, Carlo Branca, John R Spletzer

### Publication Information

 Proceedings of the IEEE Networking, Sensing and Control March 2005, Pages 716-721

### Abstract



The objective of this work is to investigate on-line optimization-based coordination strategies for robot teams to efficiently accomplish a mission (eg, reach a set of assigned targets) while avoiding collisions. The multi-robot coordination problem is addressed by solving an on-line receding-horizon mixed-integer program to find some suitable inputs for the vehicles. Simulations results verify the feasibility of our approach.



[Link to the article](http://vader.cse.lehigh.edu/publications/icnsc05.pdf)

**Tags:** unmanned vehicles, mobile robots, collision avoidance, coordination problem

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