Integer Programming(IP) · What is it? Making decisions with IP Exclusion between choices Exclusion between constraints Solutions through branch and bound Characteristics Solving Binary IPs Solving mixed ips and Lps Cooperative Path Planning MILP Encoding: Constraints Min JT Receding horizon Fuel Cost Fn Si< Wijs etc State Space Constraints S+I=As. Bu State Evolution equation Obstacle a voidance Collision avoidanceInteger Programming (IP) • What is it? • Making decisions with IP – Exclusion between choices – Exclusion between constraints • Solutions through branch and bound – Characteristics – Solving Binary IPs – Solving Mixed IPs and LPs Cooperative Path Planning MILP Encoding: Constraints • Min JT Receding Horizon Fuel Cost Fn • sij wij, etc. State Space Constraints • si +1 = Asi + Bui State Evolution Equation • xi xmin + Myi1 -xi -xmax + Myi2 yi ymin + Myi3 Obstacle Avoidance -yi -ymax + Myi4 6 yik 3 • Similar constraints for Collision Avoidance (for all pairs of vehicles)