Near-Optimal Multi-Robot Motion Planning with Finite Sampling
Dror Dayan Kiril Solovey Marco Pavone Dan Halperin Dror Dayan Kiril Solovey Marco Pavone Dan Halperin
An underlying structure in several sampling-based methods for continuous multi-robot motion planning (MRMP) is the tensor roadmap (PR), which emerges from combining multiple PRM graphs constructed for the individual robots via a tensor product. We study the conditions under which the TR encodes a near-optimal solution for MRMP—satisfying these conditions implies near optimality for a variety of po...