2018/07/02 by Anton Andreychuk, Andreychuk, Anton, Konstantin Yakovlev +1
Computer Science · Engineering · Mathematics · #Artificial Intelligence (cs.AI) #Artificial intelligence #Computer science #Distributed computing #Engineering #FOS: Computer and information sciences #Heuristic #Mathematical optimization #Mathematics #Modular Robots and Swarm Intelligence #Motion planning #Multiagent Systems (cs.MA) #Operations research #Optimization and Search Problems #Path (computing) #Planner #Robot #Robotic Path Planning Algorithms #Set (abstract data type) #cs.AI #cs.MA
paper · pdf · doi:10.48550/arxiv.1807.00771
10 pages, 7 figures, conference paper, ICR 2018
arxiv created 2018/07/02 · openalex publication_date 2018/07/02 · arxiv updated 2018/07/03 · openalex created_date 2025/10/10 · openalex updated_date 2026/08/05
The problem of planning a set of paths for the coalition of robots (agents) with different capabilities is considered in the paper. Some agents can modify the environment by destructing the obstacles thus allowing the other ones to shorten their paths to the goal. As a result the mutual solution of lower cost, e.g. time to completion, may be acquired. We suggest an original procedure to identify the obstacles for further removal that can be embedded into almost any heuristic search planner (we use Theta*) and evaluate it empirically. Results of the evaluation show that time-to-complete the mission can be decreased up to 9-12 % by utilizing the proposed technique.