The article presents a novel approach to multi-robot motion planning, particularly in congested environments with narrow passages. The authors propose a method that leverages topological guidance to determine when coordination between robots is necessary, thus improving scalability. The research addresses the challenges multi-robot systems face in avoiding obstacle and inter-robot collisions, particularly in constrained environments like warehouses and factories. The novel method provides a significant improvement over existing decoupled and coupled planning methods, offering a more efficient solution for large robot teams.
Publication date: 20 Nov 2023
Project Page: Not provided
Paper: https://arxiv.org/pdf/2311.10176
