Decentralized Lifelong Path Planning for Multiple Ackerman Car-Like Robots
<|reference_start|>Decentralized Lifelong Path Planning for Multiple Ackerman Car-Like Robots: 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.<|reference_end|>
@article{guo2024decentralized,
    title={Decentralized Lifelong Path Planning for Multiple Ackerman Car-Like
  Robots},
    author={Teng Guo, Jingjin Yu},
    journal={arXiv preprint arXiv:2402.11767},
    year={2024},
    archivePrefix={arXiv},
    eprint={2402.11767},
    primaryClass={cs.RO}
}