Prioritizing robots by the number of topologically distinct paths they have to their goal raises success rate and improves the makespan/flowtime trade-off in simulated multi-robot path planning.
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Multi-Robot Path Deconfliction through Prioritization by Path Prospects
Prioritizing robots by the number of topologically distinct paths they have to their goal raises success rate and improves the makespan/flowtime trade-off in simulated multi-robot path planning.