Two Techniques That Enhance the Performance of Multi-robot Prioritized Path Planning
This work addresses path planning for multi-robot systems, but it appears incremental as it builds on existing prioritized methods with specific enhancements.
The paper tackles the problem of multi-robot prioritized path planning by introducing two techniques: a deterministic re-scheduling procedure and a heuristic that modifies the search-space of individual planners, resulting in enhanced performance as empirically evaluated.
We introduce and empirically evaluate two techniques aimed at enhancing the performance of multi-robot prioritized path planning. The first technique is the deterministic procedure for re-scheduling (as opposed to well-known approach based on random restarts), the second one is the heuristic procedure that modifies the search-space of the individual planner involved in the prioritized path finding.