Optimal Multirobot Path Planning on Graphs: Complete Algorithms and Effective Heuristics

We study optimal multirobot path planning on graphs (MPP) over four minimization objectives: the makespan (last arrival time), the maximum (single-robot traveled) distance, the total arrival time, and the total distance. Having established previously that these objectives are distinct and NP-hard to...

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Bibliographic Details
Published in:	IEEE transactions on robotics Vol. 32; no. 5; pp. 1163 - 1177
Main Authors:	Jingjin Yu, LaValle, Steven M.
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.10.2016 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Algorithm design and analysis Algorithms Collision avoidance Games Heuristic Heuristic algorithms Linear programming Path planning Robot kinematics Robots
ISSN:	1552-3098, 1941-0468
Online Access:	Get full text
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