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Decentralized Multi-Robot Motion Planning

This work builds off the Push-Swap-Wait algorithm presented by Dexter Scobee and Adam Wiktor in their thesis [PDF]. Scobee, Wiktor, and the LAIR are working to formalize this decentralized and complete algorithm for multi-robot motion planning in confined spaces, test it in hardware on the Jaguar Lite platform, and submit the results to the IROS 2014 conference.

The Push-Swap-Wait algorithm is a scalable, decentralized, and complete approach for multi-robot motion planning in confined spaces. The algorithm decomposes an environment into a tree of discrete positions. The proof is given for cases where the environment can be expressed as a tree with more leaf nodes than the number of robots navigating through it. Each robot independently computes its plan and communicates with nearby robots to share information.