{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/prioritized-planning-algorithms-for","title":"Prioritized Planning Algorithms for Trajectory Coordination of Multiple Mobile Robots","arxiv_id":"1409.2399","date":"2014-09-08","proceeding":null,"authors":["Michal Čáp","Peter Novák","Alexander Kleiner","Martin Selecký"],"abstract":"An important capability of autonomous multi-robot systems is to prevent\ncollision among the individual robots. One approach to this problem is to plan\nconflict-free trajectories and let each of the robots follow its pre-planned\ntrajectory. A widely used practical method for multi-robot trajectory planning\nis prioritized planning, which has been shown to be effective in practice, but\nis in general incomplete. Formal analysis of instances that are provably\nsolvable by prioritized planning is still missing. Moreover, prioritized\nplanning is a centralized algorithm, which may be in many situations\nundesirable.\n  In this paper we a) propose a revised version of prioritized planning and\ncharacterize the class of instances that are provably solvable by the algorithm\nand b) propose an asynchronous decentralized variant of prioritized planning,\nwhich maintains the desirable properties of the centralized version and in the\nsame time exploits the distributed computational power of the individual\nrobots, which in most situations allows to find the joint trajectories faster.\n  The experimental evaluation performed on real-world indoor maps shows that a)\nthe revised version of prioritized planning reliably solves a wide class of\ninstances on which both classical prioritized planning and popular reactive\ntechnique ORCA fail and b) the asynchronous decentralized algorithm provides\nsolution faster than the previously proposed synchronized decentralized\nalgorithm.","url_abs":"http://arxiv.org/abs/1409.2399v1","url_pdf":"http://arxiv.org/pdf/1409.2399v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"prioritized-planning-algorithms-for","repo_url":"https://github.com/mcapino/adpp-journal","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":0,"framework":"none","reach":null},{"paper_slug":"prioritized-planning-algorithms-for","repo_url":"https://github.com/PathPlanning/Push-and-Rotate--CBS--PrioritizedPlanning","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":null},{"paper_slug":"prioritized-planning-algorithms-for","repo_url":"https://github.com/kylevedder/Push-and-Rotate","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[{"task_slug":"trajectory-planning","task_name":"Trajectory Planning"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=1409.2399","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}