Using a PRM Planner to Compare Centralized and Decoupled Planning for Multi-Robot Systems
نویسندگان
چکیده
منابع مشابه
On Delaying Collision Checking in PRM Planning – Application to Multi-Robot Coordination
This paper describes the foundations and algorithms of a new probabilistic roadmap (PRM) planner that is: single-query – instead of pre-computing a roadmap covering the entire free space, it uses the two input query configurations to explore as little space as possible; bi-directional – it explores the robot’s free space by building a roadmap made of two trees rooted at the query configurations...
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