Counterexample Guided Abstraction Refinement with Non-Refined Abstractions for Multi-Goal Multi-Robot Path Planning
Pavel Surynek,Pavel Surynek
We address the problem of multi-goal multi robot path planning (MG-MRPP) via counterexample guided abstraction refinement (CEGAR) framework. MG-MRPP generalizes the standard discrete multi-robot path planning (MRPP) problem. While the task in MRPP is to navigate robots in an undirected graph from their starting vertices to one individual goal vertex per robot, MG-MRPP assigns each robot multiple g...
