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

Stefan Edelkamp*, Junho Lee

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference paperpeer-review

2 Citations (Scopus)


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.

Original languageEnglish
Title of host publicationTowards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, Proceedings
EditorsKaspar Althoefer, Jelizaveta Konstantinova, Ketao Zhang
PublisherSpringer Verlag
Number of pages12
ISBN (Print)9783030238063
Publication statusPublished - 2019
Event20th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2019 - London, United Kingdom
Duration: 3 Jul 20195 Jul 2019

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume11649 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference20th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2019
Country/TerritoryUnited Kingdom


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