Planning optimal paths for multiple robots on graphs

Jingjin Yu; Steven M. Lavalle

doi:10.1109/ICRA.2013.6631084

Planning optimal paths for multiple robots on graphs

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

In this paper, we study the problem of optimal multi-robot path planning (MPP) on graphs. We propose two multiflow based integer linear programming (ILP) models that compute minimum last arrival time and minimum total distance solutions for our MPP formulation, respectively. The resulting algorithms from these ILP models are complete and guaranteed to yield true optimal solutions. In addition, our flexible framework can easily accommodate other variants of the MPP problem. Focusing on the time optimal algorithm, we evaluate its performance, both as a stand alone algorithm and as a generic heuristic for quickly solving large problem instances. Computational results confirm the effectiveness of our method.

Original language	English (US)
Title of host publication	2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Pages	3612-3617
Number of pages	6
DOIs	https://doi.org/10.1109/ICRA.2013.6631084
State	Published - 2013
Event	2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany Duration: May 6 2013 → May 10 2013

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Other

Other	2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Country	Germany
City	Karlsruhe
Period	5/6/13 → 5/10/13

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ICRA.2013.6631084

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Yu, J & Lavalle, SM 2013, Planning optimal paths for multiple robots on graphs. in 2013 IEEE International Conference on Robotics and Automation, ICRA 2013., 6631084, Proceedings - IEEE International Conference on Robotics and Automation, pp. 3612-3617, 2013 IEEE International Conference on Robotics and Automation, ICRA 2013, Karlsruhe, Germany, 5/6/13. https://doi.org/10.1109/ICRA.2013.6631084

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