A convex reformulation f

A convex reformulation fo
A convex reformulation for speed planning of a vehicle under the travel time and energy consumption objectives

In this paper we address the speed planning problem for a vehicle along a predefined path. A weighted average of two (conflicting) terms, energy consumption and travel time, is minimized. After deriving a non-convex mathematical model of the problem, we introduce a convex relaxation of the model and…