Navigating the Clutter: Waypoint-Based Bi-Level Planning for Multi-Robot Systems
Multi-robot control in cluttered environments is a challenging problem that involves complex physical constraints, including robot-robot collisions, robot-obstacle collisions, and unreachable motions. Successful planning in such settings requires joint optimization over high-level task planning and low-level motion planning, as violations of physical constraints may arise from failures at either level. However, jointly optimizing task and motion planning is difficult due to the complex parameterization of low-level motion trajectories and the ambiguity of credit assignment across the two planning levels. In this paper, we propose a hybrid multi-robot control framework that jointly optimiz...
| Authors | Jiabao Ji, Yongchao Chen, Yang Zhang et al. |
|---|---|
| Primary category | cs.RO |
| Published | 22 April 2026 |
| Last updated at source | 22 April 2026 |
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