Pareto Optimal Multirobot Motion Planning

This article studies a class of multirobot coordination problems where team robots aim to reach their goal regions with minimum time and avoid collisions obstacles other robots. A novel numerical algorithm is proposed identify the Pareto optimal solutions no robot can unilaterally reduce its traveling without extending others'. The consistent approximation in epigraphical profile sense guaranteed using set-valued analysis. Experiments on an indoor platform computer simulations show anytime property algorithm, i.e., it able quickly return feasible control policy that safely steers keeps improving optimality if more given.