Fast Collision Checking: From Single Robots to Multi-Robot Teams
This work addresses collision avoidance for multi-robot systems, but it is incremental as it builds directly on an existing method.
The paper tackles the problem of collision checking for centralized multi-robot teams by extending an existing method to handle multiple robots, resulting in a significant reduction in the number of collision checks compared to prior implementations.
We examine three different algorithms that enable the collision certificate method from [Bialkowski, et al.] to handle the case of a centralized multi-robot team. By taking advantage of symmetries in the configuration space of multi-robot teams, our methods can significantly reduce the number of collision checks vs. both [Bialkowski, et al.] and standard collision checking implementations.