Anonymous multi-robot path finding is solved as a discrete optimal transport problem over a cell grid, yielding integral, non-overlapping paths, plus an MPC layer for tracking and replanning.
Topics in Optimal Transportation, volume 58 of Graduate Studies in Mathe- matics
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Multi-robot Path Planning and Scheduling via Model Predictive Optimal Transport (MPC-OT)
Anonymous multi-robot path finding is solved as a discrete optimal transport problem over a cell grid, yielding integral, non-overlapping paths, plus an MPC layer for tracking and replanning.