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IFAC-PapersOnLine • Vol 56 • No 3
Development of Linear Battery Model for Path Planning with Mixed Integer Linear Programming: Simulated and Experimental Validation
2023
Mixed Integer Linear Programs (MILPs) are often used in the path planning of both ground and aerial vehicles. Such a formulation of the path planning problem requires a linear objective function and constraints, limiting the fidelity of the tracking of vehicl…
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Paleontology

Study of life before 11,700 years ago

Paleontology (), also spelled palaeontology or palæontology , is the scientific study of life that existed prior to, and sometimes including, the start of the Holocene epoch (roughly 11,700 years before present). It includes the study of fossils to classify organisms and study their interactions with each other and their environments (their paleoecology). Paleontological observations have been documented as far back as the 5th century BC. The science became established in the 18th century as a result of Georges Cuvier's work on comparative anatomy, and developed rapidly in the 19th century. The term has been used since 1822 formed from Greek παλαιός ( 'palaios' , "old, ancient"), ὄν ( 'on' , (gen.

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IFAC-PapersOnLine • Vol 56 • No 3
Development of Linear Battery Model for Path Planning with Mixed Integer Linear Programming: Simulated and Experimental Validation
2023
Mixed Integer Linear Programs (MILPs) are often used in the path planning of both ground and aerial vehicles. Such a formulation of the path planning problem requires a linear objective function and constraints, limiting the fidelity of the tracking of vehicle states. One such state often used is the charge level of the on board battery. High-fidelity battery state estimation requires nonlinear differential equations to be solved. This state estimation is vital in path planning to ensure flyable paths, however whe…
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