A Voronoi-roadmap redistribution method allocates hundreds of robots to tasks in dense environments with high deadlock-free success and much faster planning than conflict-search baselines.
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Very Large-scale Multi-Robot Task Allocation in Challenging Environments via Robot Redistribution
A Voronoi-roadmap redistribution method allocates hundreds of robots to tasks in dense environments with high deadlock-free success and much faster planning than conflict-search baselines.