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Planning Optimal Paths for Multiple Robots on Graphs

In this paper, we study the problem of optimal multi-robot path planning (MPP) on graphs. We propose two multiflow based integer linear programming (ILP) models that computes minimum last arrival time and minimum total distance solutions for our MPP formulation, respectively. The resulting algorithms from these ILP models are complete and guaranteed to yield true optimal solutions. In addition, our flexible framework can easily accommodate other variants of the MPP problem. Focusing on the time optimal algorithm, we evaluate its performance, both as a stand alone algorithm and as a generic heuristic for quickly solving large problem instances. Computational results confirm the effectiveness of our method.

preprint2013arXivOpen access
Jingjin YuSteven M. LaValle
Systems and ControlArtificial IntelligenceRobotics
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Open access2 authors3 topics
Imported metadata coverageMissing code, dataset, citation and institution fields are tracked without dominating the paper.Details
Citations: 0Reviews: 0Saves: 0Code: not linkedDataset: not linkedInstitutions: 0

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Jingjin YuSteven M. LaValle

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