Multi-Robot Path Deconfliction through Prioritization by Path Prospects
Wenying Wu,Subhrajit Bhattacharya,Amanda Prorok,Wenying Wu,Subhrajit Bhattacharya,Amanda Prorok
This work deals with the problem of planning conflict-free paths for mobile robots in cluttered environments. Since centralized, coupled planning algorithms are computationally intractable for large numbers of robots, we consider decoupled planning, in which robots plan their paths sequentially in order of priority. Choosing how to prioritize the robots is a key consideration. State-of-the-art pri...
