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G. Wagner, H. Choset and N. Ayanian. Subdimensional Expansion and Optimal Task Reassignment. In Proceedings of the Symposium on Combinatorial Search (SoCS), pages 177-178, 2012.
Abstract: Multirobot path planning and task assignment are traditionally treated separately, however task assignment can greatly impact the difficulty of the path planning problem, and the ultimate quality of solution is dependent upon both. We introduce task reassignment, an approach to optimally solving the coupled task assignment and path planning problems. We show that task reassignment improves solution quality, and reduces planning time in some situations.