Introduces ST-GCS graphs and ECD for time-optimal single- and multi-robot motion planning via best-first graph search with continuous optimization and prioritized coordination.
arXiv preprint arXiv:2407.17413 , year=
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Search-Based Spatiotemporal and Multi-Robot Motion Planning on Graphs of Space-Time Convex Sets
Introduces ST-GCS graphs and ECD for time-optimal single- and multi-robot motion planning via best-first graph search with continuous optimization and prioritized coordination.