Publication

G. Wagner, J. Kim, K. Urban and H. Choset. Constraint Manifold Subsearch for Multirobot Path Planning with Cooperative Tasks. In Proceedings of the International Conference on Robotics and Automation (ICRA), pages 6094-6100, 2015.

Abstract: The cooperative path planning problem seeks to determine a path for a group of robots which form temporary teams to perform tasks that require multiple robots. The multi-scale effects of simultaneously coordinating many robots distributed across the workspace while also tightly coordinating robots in cooperative teams increases the difficulty of planning. This paper describes a new approach to cooperative path planning called Constraint Manifold Subsearch (CMS). CMS builds upon M*, a high performance multirobot path planning algorithm, by modifying the search space to restrict teams of robots performing a task to the constraint manifold of the task. CMS can find optimal solutions to the cooperative path planning problem, or near optimal solutions to problems involving large numbers of robots.

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