Mixed-integer programming in motion planning

Daniel Ioan (1) , Ionela Prodan (2) , Sorin Olaru (1) , Florin Stoican (3) , Silviu-Iulian Niculescu (1, 4)

1 L2S - Laboratoire des signaux et systèmes
2 Grenoble INP - Institut polytechnique de Grenoble - Grenoble Institute of Technology
3 Department of Automatic Control and Systems Engineering [Bucharest]
4 DISCO - Dynamical Interconnected Systems in COmplex Environments

This paper presents a review of past and present results and approaches in the area of motion planning using MIP (Mixed-integer Programming). Although in the early 2000s MIP was still seen with reluctance as method for solving motion planning-related problems, nowadays, due to increases in computational power and theoretical advances, its extensive modeling capabilities and versatility are coming to the fore and enjoy increased application and appreciation. This class of control problems involves, essentially, either a selection from a limited number of alternatives or a constrained optimization problem over a non-convex domain. In both situations, MIP has proven to be an efficient modeling technique as it will be shown in the present review paper. Furthermore, an emphasis is laid on the existing alternatives for implementation and on various experimental validations documented in the literature.

Domaines: Sciences de l'ingénieur [physics]

Daniel Ioan, Ionela Prodan, Sorin Olaru, Florin Stoican, Silviu-Iulian Niculescu. Mixed-integer programming in motion planning. Annual Reviews in Control, 2020, ⟨10.1016/j.arcontrol.2020.10.008⟩. ⟨hal-03108529⟩