Sparsification for Fast Optimal Multi-Robot Path Planning in Lazy Compilation Schemes
Pavel Surynek,Pavel Surynek
Path planning for multiple robots (MRPP) represents a task of finding non-colliding paths for robots via which they can navigate from their initial positions to specified goal positions. The problem is often modeled using undirected graphs where robots move between vertices across edges while no two robots can simultaneously occupy the same vertex nor can traverse an edge in opposite directions. C...
