Principles of artificial intelligence
Principles of artificial intelligence
Roundabout collision avoidance for multiple robots based on minimum enclosing rectangle
Proceedings of the 2013 international conference on Autonomous agents and multi-agent systems
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Collision avoidance is an important topic in multi-robot systems. Existing multi-robot pathfinding approaches ignore sideswipe collisions among robots (i.e., only consider the collision which two agents try to occupy the same node during the same time-step) [1, 3, 4], and allow diagonal move between two adjacent nodes (e.g., Figure 1(b)). However, in many real world applications, sideswipe collisions may also block robots' movements or cause deadlocks. For example, as shown in Figure 1, if the size of two robots is as big as the grid size they occupied, collisions will happen not only between robots R1 and R2 in the situation depicted in Figure 1(a), but also that in Figure 1(b), which is typically not considered as a collision in existing multi-robot systems.