Planning multiple autonomous robots motion in space and time
Carlo Ferrari, Enrico Pagello, Jun Ota, Tamio Arai · 2002
We address the problem of planning the motion of multiple autonomous robots, by analysing their behaviour in space and time. Proper representations have been studied for both domains, with a particular emphasis on the definition of some performance indexes to weight the goodness of a path concerning motion and time performances. Sublinear algorithms have been used for planning in space while reasoning in the temporal domain is based on a proper subdivision of the time axis that leads to polynomial algorithms.