MS*: A New Exact Algorithm for Multi-agent Simultaneous Multi-goal Sequencing and Path Finding
Zhongqiang Ren Sivakumar Rathinam Howie Choset Zhongqiang Ren Sivakumar Rathinam Howie Choset
In multi-agent applications such as surveillance and logistics, fleets of mobile agents are often expected to coordinate and safely visit a large number of goal locations as efficiently as possible. The multi-agent planning problem in these applications involves allocating and sequencing goals for each agent while simultaneously producing conflict-free paths for the agents. In this article, we int...