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Title: Constant Factor Time Optimal Multi-Robot Routing on High-Dimensional Grids
Let G = (V, E) be an m_1 \times \ldots \times m_k grid for some arbitrary constant k. We establish that O(\sum_{i=1}^km_i) (makespan) time-optimal labeled (i.e., each robot has a specific goal) multi-robot path planning can be realized on G in O(|V|^2) running time, even when vertices of G are fully occupied by robots. When all dimensions are of equal sizes, the running time approaches O(|V|). Using this base line algorithm, which provides average case O(1)-approximate (i.e., constant-factor) time-optimal solutions, we further develop a first worst case O(1)-approximate algorithm that again runs in O(|V|^2) time for two and three dimensions. We note that the problem has a worst case running time lower bound of \Omega(|V|^2).  more » « less
Award ID(s):
1734419
NSF-PAR ID:
10071647
Author(s) / Creator(s):
Date Published:
Journal Name:
2018 Robotics: Science and Systems
Format(s):
Medium: X
Sponsoring Org:
National Science Foundation
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