2,399 research outputs found
An Optimal Algorithm to Solve the Combined Task Allocation and Path Finding Problem
We consider multi-agent transport task problems where, e.g. in a factory
setting, items have to be delivered from a given start to a goal pose while the
delivering robots need to avoid collisions with each other on the floor. We
introduce a Task Conflict-Based Search (TCBS) Algorithm to solve the combined
delivery task allocation and multi-agent path planning problem optimally. The
problem is known to be NP-hard and the optimal solver cannot scale. However, we
introduce it as a baseline to evaluate the sub-optimality of other approaches.
We show experimental results that compare our solver with different sub-optimal
ones in terms of regret
A Survey and Analysis of Multi-Robot Coordination
International audienceIn the field of mobile robotics, the study of multi-robot systems (MRSs) has grown significantly in size and importance in recent years. Having made great progress in the development of the basic problems concerning single-robot control, many researchers shifted their focus to the study of multi-robot coordination. This paper presents a systematic survey and analysis of the existing literature on coordination, especially in multiple mobile robot systems (MMRSs). A series of related problems have been reviewed, which include a communication mechanism, a planning strategy and a decision-making structure. A brief conclusion and further research perspectives are given at the end of the paper
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