Exploiting Subgraph Structure in Multi-Robot Path Planning

@article{Ryan2008ExploitingSS,
  title={Exploiting Subgraph Structure in Multi-Robot Path Planning},
  author={Malcolm Ross Kinsella Ryan},
  journal={J. Artif. Intell. Res.},
  year={2008},
  volume={31},
  pages={497-542}
}
Multi-robot path planning is difficult due to the combinatorial explosion of the search space with every new robot added. Complete search of the combined state-space soon becomes intractable. In this paper we present a novel form of abstraction that allows us to plan much more efficiently. The key to this abstraction is the partitioning of the map into subgraphs of known structure with entry and exit restrictions which we can represent compactly. Planning then becomes a search in the much… CONTINUE READING
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