Graph-Based Multi-Robot Path Finding and Planning

Planning collision-free paths for multiple robots is important real-world multi-robot systems and has been studied as an optimization problem on graphs, called multi-agent path finding (MAPF). This review surveys different categories of classic state-of-the-art MAPF algorithms research attempts to tackle the challenges generalizing techniques scenarios. Solving problems optimally computationally challenging. Recent advances have resulted in that can compute hundreds thousands navigation tasks seconds runtime. Many variants formalized adapt requirements, such considerations robot kinematics, online real-time systems, integration task assignment planning. Algorithmic addressed aspects several applications, including automated warehouse fulfillment sortation, train scheduling, non-holonomic quadcopters. showcases their potential applications large-scale systems.