Overview We present Scalable Multi-Agent Realistic Testbed (SMART), a realistic and efficient software tool for evaluating Multi-Agent Path Finding (MAPF) algorithms coupling with robot models of different kinodynamics. MAPF focuses on planning collision-free paths for a group of robots.
Motivation How to improve the solution quality of the MAMP in realistic cases? MASS (MAPF-SSIPP-SPS) Stationary SIPP: Rotation Expansion If the previous action is move, the next action must be rotation.
Multi-Agent Motion Planning (MAMP) seeks collision-free, dynamically feasible trajectories for multiple agents while minimizing travel time.
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