Planning a set of collision-free trajectories with the enhanced AA-SIPP(m) algorithm. The later is a prioritized planner that in practice:
- does not restrict robots' moves to syncronized translations;
- allows moves of arbitrary durations (i.e. durations that are not strictly tied to the preliminary discretized timeline);
- allows planning for robots with different sizes; iv) does not require moving speed to be the same;
- takes rotation actions into account when planning. It also preemptively tries to minimize the risk of collisions, occurring due to imperfect execution.
On top of that it incorporates such techniques as deterministic re-scheduling and start safe intervals.
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This is part of the experimental evaluation for the ECMR paper on multi-agent path planning for differential drive robots (Yakovlev et.al, ECMR 2019).
