{"type":"ScholarlyArticle","title":"Multi-Robot Motion Planning with Dynamics Guided by Multi-Agent Search","authors":[{"name":"Duong Le","slug":"duong-le","given":"Duong","family":"Le","affiliation":"Department of Electrical Engineering and Computer Science , Catholic University of America Washington DC , USA"},{"name":"Erion Plaku","slug":"erion-plaku","given":"Erion","family":"Plaku","affiliation":"Department of Electrical Engineering and Computer Science , Catholic University of America Washington DC , USA"}],"abstract":"This paper presents an effective multi-robot motion planner that\r\nenables each robot to reach its desired location while avoiding\r\ncollisions with the other robots and the obstacles. The approach takes\r\ninto account the differential constraints imposed by the underlying\r\ndynamics of each robot and generates dynamically-feasible motions that\r\ncan be executed in the physical world.  The crux of the approach is\r\nthe sampling-based expansion of a motion tree in the continuous state\r\nspace of all the robots guided by multi-agent search over a discrete\r\nabstraction.  Experiments using vehicle models with nonlinear dynamics\r\noperating in complex environments show significant speedups over\r\nrelated work.","doi":"10.24963/ijcai.2018/744","url":"https://ijcai.org/proceedings/2018/744","pdf":"https://ijcai.org/proceedings/2018/0744.pdf","markdown":"https://ijcai.org/proceedings/2018/744.md","bibtex":"https://ijcai.org/proceedings/2018/bibtex/744","volume":{"slug":"2018","title":"Proceedings of the Twenty-Seventh International Joint Conference on Artificial Intelligence","short_title":"IJCAI 2018","url":"https://ijcai.org/proceedings/2018/","year":2018,"location":"Stockholm","dates":"13-19 July 2018","editors":"Jérôme Lang","isbn":"978-0-9992411-2-7","publisher":"International Joint Conferences on Artificial Intelligence Organization","doi_prefix":"10.24963/ijcai.2018"},"section":"Sister Conferences Best Papers","track":"Best Sister Conferences","number":744,"pages":{"first":5314,"last":5318},"keywords":["Agent-based and Multi-agent Systems: Multi-agent Planning","Robotics: Motion and Path Planning"],"videos":[],"references":[{"position":1,"raw":"[Amir et al., 2015] Ofra Amir, Guni Sharon, and Roni Stern. 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