The paper explores the concept of a Well-Connected Set (WCS) and its application in planning paths for multiple robots. WCS is a set of vertices in a connected graph such that there’s a path connecting any pair of vertices in the set without passing through any other vertices of the set. This concept is applied to design infrastructures like autonomous warehouses and parking lots to reduce congestion and improve planning. The paper also presents algorithms for computing an LWCS, a problem that is NP-complete.
Publication date: 20 Feb 2024
Project Page: Not provided
Paper: https://arxiv.org/pdf/2402.11766
