Optimizing Space Utilization for More Effective Multi-Robot Path Planning
Shuai D. Han,Jingjin Yu,Shuai D. Han,Jingjin Yu
We perform a systematic exploration of the principle of Space Utilization Optimization (SUO) as a heuristic for planning better individual paths in a decoupled multi-robot path planner, with applications to both one-shot and life-long multi-robot path planning problems. We show that the heuristic set, SU - I, preserves single path optimality and significantly reduces congestion that naturally happ...
