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Optimal Cooperative Path-Finding with Generalized Goals in Difficult Cases

Publication at Faculty of Mathematics and Physics |
2013

Abstract

We suggest to employ propositional satisfiability techniques in solving a problem of cooperative multi-robot path-finding optimally. Several propositional encodings of path-finding problems have been suggested recently.

In this paper we evaluate how efficient these encodings are in solving certain cases of cooperative path-findings problems optimally. Par-ticularly, a case where robots have multiple optional loca-tions as their targets is considered in this paper.