DDM: Fast Near-Optimal Multi-Robot Path Planning Using Diversified-Path and Optimal Sub-Problem Solution Database Heuristics
نویسندگان
چکیده
منابع مشابه
Finding Near-optimal Solutions in Multi-robot Path Planning
We deal with the problem of planning collisionfree trajectories for robots operating in a shared space. Given the start and destination position for each of the robots, the task is to find trajectories for all robots that reach their destinations with minimum total cost such that the robots will not collide when following the found trajectories. Our approach starts from individually optimal tra...
متن کاملFast, Near-Optimal Computation for Multi-Robot Path Planning on Graphs
We report a new method for computing near optimal makespan solutions to multi-robot path planning problem on graphs. Our focus here is with hard instances those with up to 85% of all graph nodes occupied by robots. Our method yields 100-1000x speedup compared with existing methods. At the same time, our solutions have much smaller and often
متن کاملOptimal Path Planning in Cooperative Heterogeneous Multi-robot Delivery Systems
This paper addresses a team of cooperating vehicles performing autonomous deliveries in urban environments. The cooperating team comprises two vehicles with complementary capabilities, a truck restricted to travel along a street network, and a quadrotor micro-aerial vehicle of capacity one that can be deployed from the truck to perform deliveries. The problem is formulated as an optimal path pl...
متن کاملOptimal Path Planning for Mobile Robot Using Tailored Genetic Algorithm
During routine inspecting, mobile robot may be requested to visit multiple locations to execute special tasks occasionally. This study aims at optimal path planning for multiple goals visiting task based on tailored genetic algorithm. The proposed algorithm will generate an optimal path that has the least idle time, which is proven to be effective on evaluating a path in our previous work. In p...
متن کاملAn Effective Algorithmic Framework for Near Optimal Multi-robot Path Planning
We present an algorithmic framework for solving multi-robot path planning problems in general, two-dimensional, continuous environments while seeking to minimize globally the task completion time. The framework obtains its high levels of effectiveness through the composition of an optimal discretization of the continuous environment and the subsequent fast, near-optimal resolution of the result...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Robotics and Automation Letters
سال: 2020
ISSN: 2377-3766,2377-3774
DOI: 10.1109/lra.2020.2967326