Coordinating the path of multiple robots along assigned paths is a difficult problem (NP-Hard) with great potential for applications. We here provide a detailed study of a randomized algorithm for scheduling priorities we have developed, also comparing it with an exact approach. It turns out that for problems of reasonable size our approach does not perform significantly worse than the optimal one, while being much faster.
An experimental study of distributed robot coordination
PAGELLO, ENRICO
2006
Abstract
Coordinating the path of multiple robots along assigned paths is a difficult problem (NP-Hard) with great potential for applications. We here provide a detailed study of a randomized algorithm for scheduling priorities we have developed, also comparing it with an exact approach. It turns out that for problems of reasonable size our approach does not perform significantly worse than the optimal one, while being much faster.File in questo prodotto:
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