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Implan: Scalable Incremental Motion Planning for Multi-Robot Systems
2016
2016 ACM/IEEE 7th International Conference on Cyber-Physical Systems (ICCPS)
We consider the collision-free motion planning problem for a group of robots using a library of motion primitives. To cope with the complexity of the problem, we introduce an incremental algorithm based on an SMT solver, where we divide the robots into small groups based on a priority assignment algorithm. The priority assignment algorithm assigns priorities to the robots in such a way that the robots do not block the cost-optimal trajectories of the other robots. While the priority assignment
doi:10.1109/iccps.2016.7479105
dblp:conf/iccps/SahaR0PS16
fatcat:tehc2v64ejelli34i4z7ldjui4