Multi-robot Path Planning in Well-formed Infrastructures: Prioritized Planning vs. Prioritized Wait Adjustment (Preliminary Results)
Artificial Intelligence
2018-07-06 v1 Multiagent Systems
Robotics
Abstract
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.
Keywords
Cite
@article{arxiv.1807.01909,
title = {Multi-robot Path Planning in Well-formed Infrastructures: Prioritized Planning vs. Prioritized Wait Adjustment (Preliminary Results)},
author = {Anton Andreychuk and Konstantin Yakovlev},
journal= {arXiv preprint arXiv:1807.01909},
year = {2018}
}
Comments
Submitted to the Federated AI for Robotics Workshop (FAIR) 2018 (https://sites.google.com/site/federatedai4robotics2018/home) held at July 15 2018 as part of the Federated AI Meeting (joint IJCAI-ECAI/ICML/AAMAS conferences)