On Randomized Searching for Multi-robot Coordination

  • Jakub Hvězda
  • Miroslav KulichEmail author
  • Libor Přeučil
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 613)


In this chapter, we propose a novel approach for solving the coordination of a fleet of mobile robots, which consists of finding a set of collision-free trajectories for individual robots in the fleet. This problem is studied for several decades, and many approaches have been introduced. However, only a small minority is applicable in practice because of their properties - small computational requirement, producing solutions near-optimum, and completeness. The approach we present is based on a multi-robot variant of Rapidly Exploring Random Tree algorithm (RRT) for discrete environments and significantly improves its performance. Although the solutions generated by the approach are slightly worse than one of the best state-of-the-art algorithms presented in [23], it solves problems where ter Morses algorithm fails.



This work has been supported by the European Union’s Horizon 2020 research and innovation programme under grant agreement No 688117, by the Technology Agency of the Czech Republic under the project no. TE01020197 “Centre for Applied Cybernetics”, the project Rob4Ind4.0 CZ.02.1.01/0.0/0.0/15_003/0000470 and the European Regional Development Fund. The work of Jakub Hvězda was also supported by the Grant Agency of the Czech Technical University in Prague, grant No. SGS18/206/OHK3/3T/37.


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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  • Jakub Hvězda
    • 1
    • 2
  • Miroslav Kulich
    • 1
    Email author
  • Libor Přeučil
    • 1
  1. 1.Czech Institute of Informatics, Robotics, and CyberneticsCzech Technical University in PraguePragueCzech Republic
  2. 2.Department of Cybernetics, Faculty of Electrical EngineeringCzech Technical University in PraguePragueCzech Republic

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