Multi-Robot Coordinated Planning in Confined Environments under Kinematic Constraints
This addresses the problem of efficient and safe path planning for multiple robots operating in close proximity, which is incremental as it builds on existing methods.
The paper tackles multi-robot coordinated planning in confined environments with kinematic constraints by developing fast-dRRT (fdRRT), an extension of dRRT*, which achieves a trade-off between computational time and solution quality, especially in tight settings.
We investigate the problem of multi-robot coordinated planning in environments where the robots may have to operate in close proximity to each other. We seek computationally efficient planners that ensure safe paths and adherence to kinematic constraints. We extend the central planner dRRT* with our variant, fast-dRRT (fdRRT), with the intention being to use in tight environments that lead to a high degree of coupling between robots. Our algorithm is empirically shown to achieve the trade-off between computational time and solution quality, especially in tight environments.