A hierarchical multi-robot motion planner that refines workspace decompositions to enable scalable coordination through discrete search over smaller decoupled subproblems.
IEEE Robotics and Automation Letters8(11), 6867–6874 (2023)
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Scalable Multi-robot Motion Planning via Hierarchical Subproblem Expansion and Workspace Decomposition Refinement
A hierarchical multi-robot motion planner that refines workspace decompositions to enable scalable coordination through discrete search over smaller decoupled subproblems.