Multi-Robot Path Planning Using Medial-Axis-Based Pebble-Graph Embedding
Liang He,Zherong Pan,Kiril Solovey,Biao Jia,Dinesh Manocha,Liang He,Zherong Pan,Kiril Solovey,Biao Jia,Dinesh Manocha
We present a centralized algorithm for labeled, disk-shaped Multi-Robot Path Planning (MPP) in a continuous planar workspace with polygonal boundaries. Our method automatically transform the continuous problem into a discrete, graph-based variant termed the pebble motion problem, which can be solved efficiently. To construct the underlying pebble graph, we identify inscribed circles in the workspa...
