Robot motion planning: a distributed representation approach
International Journal of Robotics Research
Exploring artificial intelligence in the new millennium
Planning Algorithms
Cooperative multi-robot path planning using differential evolution
Journal of Intelligent & Fuzzy Systems: Applications in Engineering and Technology - Theoretical advances of intelligent paradigms
Domain-Dependent View of Multiple Robots Path Planning
Proceedings of the 2008 conference on STAIRS 2008: Proceedings of the Fourth Starting AI Researchers' Symposium
A novel approach to path planning for multiple robots in bi-connected graphs
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Graph-based planning using local information for unknown outdoor environments
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Push and swap: fast cooperative path-finding with completeness guarantees
IJCAI'11 Proceedings of the Twenty-Second international joint conference on Artificial Intelligence - Volume Volume One
An optimal algorithm for two robots path planning problem on the grid
Robotics and Autonomous Systems
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In my previous paper (Ryan, 2006) I introduced the concept of subgraph decomposition as a means of reducing the search space in multi-robot planning problems. I showed how partitioning a roadmap into subgraphs of known structure allows us to first plan at a level of abstraction and then resolve these plans into concrete paths without the need for further search so we can solve significantly harder planning tasks with the same resources. However the subgraph types I introduced in that paper, stacks and cliques, are not likely to occur often in realistic planning problems and so are of limited usefulness. In this paper I describe a new kind of subgraph called a hall, which can also be used for planning and which occurs much more commonly in real problems. I explain its formal properties as a planning component and demonstrate its use on a map of the Patrick's container yard at the Port of Brisbane in Queensland Australia.