M*: A complete multirobot path planning algorithm with performance bounds

@article{Wagner2011MAC,
  title={M*: A complete multirobot path planning algorithm with performance bounds},
  author={Glenn Wagner and Howie Choset},
  journal={2011 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2011},
  pages={3260-3267}
}
Multirobot path planning is difficult because the full configuration space of the system grows exponentially with the number of robots. Planning in the joint configuration space of a set of robots is only necessary if they are strongly coupled, which is often not true if the robots are well separated in the workspace. Therefore, we initially plan for each robot separately, and only couple sets of robots after they have been found to interact, thus minimizing the dimensionality of the search… CONTINUE READING
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