MATLAB source codes, dataset and raw data for IEEE RA-L paper "Multi-Robot Path Planning with Due Times" [1].
In this paper, the problem of multi-robot path planning with due times is proposed, and solved completely using reduction-based methods. This reduction-based methdology is firstly proposed in [2]. The problem of anonymous multi-robot path planning with due times is also studied.
Interested readers could do the following.
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The default ILP solver is Gurobi. Other solvers are also possible with some minor modifications, including the MATLAB self-contained linear programming solvers.
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For multi-robot path planning on graph problems, Yu [2] provides a Java realization of the reduction-based algorithms. In contrast, my Matlab realization is easily understood. I have leave some space for expansion to makespan, total travel time, maximum distance and total distance objectives.
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Interested readers can also try to use my source codes using the open source Octave instead with minor changes.
[1] Wang Hanfu and Chen Weidong, "Multi-Robot Path Planning with Due Times." IEEE Robotics and Automation Letters.
[2] Yu, Jingjin, and Steven M. LaValle. "Optimal multirobot path planning on graphs: Complete algorithms and effective heuristics." IEEE Transactions on Robotics 32.5 (2016): 1163-1177.