Optimizing Space Utilization for More Effective Multi-Robot Path Planning

Autor:	Han, Shuai D., Yu, Jingjin
Rok vydání:	2021
Předmět:	Computer Science - Robotics
Druh dokumentu:	Working Paper
Popis:	We perform a systematic exploration of the principle of Space Utilization Optimization (SUO) as a heuristic for planning better individual paths in a decoupled multi-robot path planner, with applications to both one-shot and life-long multi-robot path planning problems. We show that the decentralized heuristic set, SU-I, preserves single path optimality and significantly reduces congestion that naturally happens when many paths are planned without coordination. Integration of SU-I into complete planners brings dramatic reductions in computation time due to the significantly reduced number of conflicts and leads to sizable solution optimality gains in diverse evaluation scenarios with medium and large maps, for both one-shot and life-long problem settings. Comment: Submitting to ICRA 2022
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2109.04677 Zobrazit plný text záznamu View this record from Arxiv