Multi-Robot Motion Planning by Incremental Coordination

  title={Multi-Robot Motion Planning by Incremental Coordination},
  author={Mitul Saha and Pekka Isto},
  journal={2006 IEEE/RSJ International Conference on Intelligent Robots and Systems},
In a recent study, it was shown that high failure rates in decoupled multi-robot motion planning makes the decoupled planning approach an unsuitable choice, in comparison to the centralized approach, in many practical instances. Motivated by this study, we devised a new multi-robot planning strategy in which we partially merge the two stages of the basic decoupled planning approach. Our experimental results show that this new strategy significantly improves upon the reliability of the decoupled… CONTINUE READING
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