Multi-Robot Motion Planning by Incremental Coordination

— A recent study showed that high failure rates in many instances of decoupled multi-robot motion planning makes the decoupled planning approach an unsuitable choice in comparison to the centralized approach. Motivated by this study we devised a new multi-robot motion planning strategy in which we partially merge the two phases of the basic decoupled planning approach. Our experimental results show that this new strategy significantly improves upon the reliability of the decoupled planning approach. Overall in our tests, the new strategy outperforms both the centralized and the decoupled planning approach, indicating that in practice our new strategy can be a better choice than both these approaches for solving multi-robot motion planning problems.

• Type: Conference
• Year: 2006
• Where: IROS
• Authors: Mitul Saha, Pekka Isto
• Keywords: Decoupled Planning Approach, IROS 2006, Motion Planning Strategy, Multi-robot Motion Planning, Robotics