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arXiv · 2402.11767

Decentralized Lifelong Path Planning for Multiple Ackerman Car-Like Robots

Teng Guo·Jingjin Yu
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Abstract

Path planning for multiple non-holonomic robots in continuous domains constitutes a difficult robotics challenge with many applications. Despite significant recent progress on the topic, computationally efficient and high-quality solutions are lacking, especially in lifelong settings where robots must continuously take on new tasks. In this work, we make it possible to extend key ideas enabling state-of-the-art (SOTA) methods for multi-robot planning in discrete domains to the motion planning of multiple Ackerman (car-like) robots in lifelong settings, yielding high-performance centralized and decentralized planners. Our planners compute trajectories that allow the robots to reach precise $SE(2)$ goal poses. The effectiveness of our methods is thoroughly evaluated and confirmed using both simulation and real-world experiments.

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Teng Guo, Jingjin Yu. 2024-02-19. Decentralized Lifelong Path Planning for Multiple Ackerman Car-Like Robots. https://arxiv.org/abs/2402.11767

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