An Approximation Algorithm for Time Optimal Multi-Robot Routing

  • Matthew TurpinEmail author
  • Nathan Michael
  • Vijay Kumar
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 107)


This paper presents a polynomial time approximation algorithm for Multi-Robot Routing. The Multi-Robot Routing problem seeks to plan paths for a team of robots to visit a large number of interchangeable goal locations as quickly as possible. As a result of providing a constant factor bound on the suboptimality of the total distance any robot travels, the total completion time, or makespan, for robots to visit every goal vertex using this plan is no more than 5 times the optimal completion time. This result is significant because it provides a rigorous guarantee on time optimality, important in applications in which teams of robots carry out time-critical missions. These applications include autonomous exploration, surveillance, first response, and search and rescue.


Minimum Span Tree Goal State Collision Avoidance Hamiltonian Path Goal Location 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  1. 1.GRASP LaboratoryUniversity of PennsylvaniaPhiladelphiaUSA
  2. 2.Robotics InstituteCarnegie Mellon UniversityPittsburghUSA

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