Prioritized Planning Algorithms for Trajectory Coordination of Multiple Mobile Robots

3 code implementations • 8 Sep 2014 • Michal Čáp, Peter Novák, Alexander Kleiner, Martin Selecký

In this paper we a) propose a revised version of prioritized planning and characterize the class of instances that are provably solvable by the algorithm and b) propose an asynchronous decentralized variant of prioritized planning, which maintains the desirable properties of the centralized version and in the same time exploits the distributed computational power of the individual robots, which in most situations allows to find the joint trajectories faster.

Trajectory Planning