Multi-robot Path Planning in Well-formed Infrastructures: Prioritized Planning vs. Prioritized Wait Adjustment (Preliminary Results)
This addresses path planning for multi-robot systems, but it is incremental as it builds on existing methods with trade-offs in speed and cost.
The paper tackles the problem of planning collision-free paths for homogeneous robots by converting egocentrically planned paths into collision-free trajectories, achieving up to an order of magnitude faster speed than state-of-the-art methods but with a notable drop in solution cost.
We study the problem of planning collision-free paths for a group of homogeneous robots. We propose a novel approach for turning the paths that were planned egocentrically by the robots, e.g. without taking other robots' moves into account, into collision-free trajectories and evaluate it empirically. Suggested algorithm is much faster (up to one order of magnitude) than state-of-the-art but this comes at the price of notable drop-down of the solution cost.