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摘要
Coordination in the problem of multirobot path planning enables the individual robots to escape collision when planned in a decentralized manner. A good coordination strategy should not be time consuming, should be probabilistically complete, and should not overly prefer a robot. In this article, an altering local search-based strategy is studied. Experiments reveal the ability of the algorithm to place the different robots judiciously for near-optimal collision avoidance. The algorithm takes less time compared to the centralized approaches, is probabilistically complete as opposed to the reactive approaches, and treats the robots alike as opposed to the prioritized approaches.
- 出版日期2014-1-2
