K-ARC solves multi-robot kinodynamic planning by planning cheap paths, splitting them into segments, optimizing each segment, and resolving only local conflicts, scaling to 32 simulated robots with faster runtimes than two reimplemented baselines.
Conflict- based search for optimal multi-agent pathfinding,
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K-ARC: Adaptive Robot Coordination for Multi-Robot Kinodynamic Planning
K-ARC solves multi-robot kinodynamic planning by planning cheap paths, splitting them into segments, optimizing each segment, and resolving only local conflicts, scaling to 32 simulated robots with faster runtimes than two reimplemented baselines.