Real-Time Multi-Robot Motion Planning with Safe-Interval Search and Learning-Guided Repair
This work presents a prioritized Safe Interval Path Planning algorithm (SIPP-PP) with a novel limited goal reservation strategy to prevent goal-blocking conflicts while allowing shared goal regions, and demonstrates a multi-robot planner capable of real-time operation in dense scenarios, satisfying the stringent requirements of industrial applications such as drive units in fulfillment centers.
Rajat Kumar, Kristin Predeck, Ken Meszaros et al.
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