Improved Discrete RRT for Coordinated Multi-robot Planning

  title={Improved Discrete RRT for Coordinated Multi-robot Planning},
  author={Jakub Hvezda and M. Kulich and L. Preucil},
  • Jakub Hvezda, M. Kulich, L. Preucil
  • Published in ICINCO 2018
  • Engineering, Computer Science
  • This paper addresses the problem of coordination of a fleet of mobile robots - the problem of finding an optimal set of collision-free trajectories for individual robots in the fleet. Many approaches have been introduced during the last decades, but a minority of them is practically applicable, i.e. fast, producing near-optimal solutions, and complete. We propose a novel probabilistic approach based on the Rapidly Exploring Random Tree algorithm (RRT) by significantly improving its multi-robot… CONTINUE READING
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