Multi-robot Multi-goal Motion Planning with Time and Resources

  • Stefan EdelkampEmail author
  • Junho Lee
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11649)


This paper addresses multi-robot multi-goal motion planning with temporal and resources constraints. It solves the vehicle routing problem for mobile robots that operate according to their system dynamics, and which have to visit a number of waypoints scattered in a two-dimensional map environment with obstacles, while satisfying time window and capacity constraints. We compute the shortest path distances between each pair of waypoints in advance, and Monte-Carlo search plans the vehicles’ tour through adaptation of a rollout policy, while adding the constraints to its optimization objective. Macro actions enable the vehicles to run in real-time with best actions being distributed to the individual controllers. We analyze how the simulation is affected by varying parameters such as the number of vehicles.


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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Department of InformaticsKing’s College LondonLondonUK

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