Exploiting Subgraph Structure in Multi-Robot Path Planning
نویسندگان
چکیده
منابع مشابه
Exploiting Subgraph Structure in Multi-Robot Path Planning
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 an...
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In this paper we consider the problem of planning paths for an homogeneous group of robots around a shared roadmap. We show that significant speedup can be achieved if we decompose the roadmap into subgraphs of known structure, such as stacks and cliques, and build plans hierarchically, first between connected subgraphs, then inside the subgraphs. We show that this approach while suboptimal is ...
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ژورنال
عنوان ژورنال: Journal of Artificial Intelligence Research
سال: 2008
ISSN: 1076-9757
DOI: 10.1613/jair.2408