DeepAI AI Chat
Log In Sign Up

Spatial and Temporal Splitting Heuristics for Multi-Robot Motion Planning

by   Teng Guo, et al.

In this work, we systematically examine the application of spatio-temporal splitting heuristics to the Multi-Robot Motion Planning (MRMP) problem in a graph-theoretic setting: a problem known to be NP-hard to optimally solve. Following the divide-and-conquer principle, we design multiple spatial and temporal splitting schemes that can be applied to any existing MRMP algorithm, including integer programming solvers and Enhanced Conflict Based Search, in an orthogonal manner. The combination of a good baseline MRMP algorithm with a proper splitting heuristic proves highly effective, allowing the resolution of problems 10+ times than what is possible previously, as corroborated by extensive numerical evaluations. Notably, spatial partition of problem fusing with the temporal splitting heuristic and the enhanced conflict based search (ECBS) algorithm increases the scalability of ECBS on large and challenging DAO maps by 5–15 folds with negligible impact on solution optimality.


page 4

page 6


T* : A Heuristic Search Based Algorithm for Motion Planning with Temporal Goals

Motion planning is the core problem to solve for developing any applicat...

Spatio-temporal Motion Planning for Autonomous Vehicles with Trapezoidal Prism Corridors and Bézier Curves

Safety-guaranteed motion planning is critical for self-driving cars to g...

Robot Motion Planning as Video Prediction: A Spatio-Temporal Neural Network-based Motion Planner

Neural network (NN)-based methods have emerged as an attractive approach...

An Interleaved Approach to Trait-Based Task Allocation and Scheduling

To realize effective heterogeneous multi-robot teams, researchers must l...

AMRA*: Anytime Multi-Resolution Multi-Heuristic A*

Heuristic search-based motion planning algorithms typically discretise t...

Splitting method for spatio-temporal search efforts planning

This article deals with the spatio-temporal sensors deployment in order ...

Multi-Resolution A*

Heuristic search-based planning techniques are commonly used for motion ...