Subdimensional Expansion and Optimal Task Reassignment
DOI:
https://doi.org/10.1609/socs.v3i1.18261Keywords:
Multirobot Path Planning, Task Assignment, Optimal Path PlanningAbstract
Multirobot path planning and task assignment are traditionally treated separately, however task assignment can greatly impact the difficulty of the path planning problem, and the ultimate quality of solution is dependent upon both. We introduce task reassignment, an approach to optimally solving the coupled task assignment and path planning problems. We show that task reassignment improves solution quality, and reduces planning time in some situations.
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Published
2021-08-20
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Short Papers