Two Techniques That Enhance the Performance of Multi-robot Prioritized Path Planning

TL;DR

This paper presents two new techniques to improve multi-robot prioritized path planning performance, including a deterministic re-scheduling method and a heuristic search-space modification, both evaluated empirically.

Contribution

It introduces a deterministic re-scheduling approach and a heuristic search-space modification to enhance multi-robot prioritized path planning.

Findings

Deterministic re-scheduling improves planning efficiency.

Heuristic search-space modification enhances solution quality.

Both techniques outperform traditional methods in empirical tests.

Abstract

We introduce and empirically evaluate two techniques aimed at enhancing the performance of multi-robot prioritized path planning. The first technique is the deterministic procedure for re-scheduling (as opposed to well-known approach based on random restarts), the second one is the heuristic procedure that modifies the search-space of the individual planner involved in the prioritized path finding.