A Survey of Multi-Robot Motion Planning

Multi-robot Motion Planning (MRMP) is an active research field which has gained attention over the years. MRMP has significant roles to improve the efficiency and reliability of multi-robot system in a wide range of applications from delivery robots to collaborative assembly lines. This survey provides an overview of MRMP taxonomy, state-of-the-art algorithms, and approaches which have been developed for multi-robot systems. This study also discusses the strengths and limitations of each algorithm and their applications in various scenarios. Moreover, based on this, we can draw out open problems for future research.Comment: This is my Ph.D. comprehensive exam repor

Communication-Based Motion Planning

Abstract — The conventional philosophy in designing mobile networks is that network node movement should be independent of network state. However, there are practical situations where movement decisions may be modified to ensure connectivity. For example, emergency responders in a crisis region relying upon an ad hoc network may need constant reliable communications and therefore adjust their search plan to stay connected, though aspects of their mission may override their objective of staying connected. We present a discrete formulation for this problem and a method for solving it optimally. We propose a cooperative and a noncooperative algorithm, showing that the run-time of the latter is drastically more efficient with a minimal performance cost relative to optimality. I