# Multi-Robot Coordinated Planning in Confined Environments under Kinematic Constraints

arXiv: https://arxiv.org/abs/1910.03101 · HTML: https://mlsanity.com/paper/1910.03101/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 7 Oct 2019.

## Built on by (most cited first, 1 of 1)

- [A Hybrid Evolutionary Approach for Multi Robot Coordinated Planning at Intersections](https://mlsanity.com/paper/2412.01082/) (2024)

## Abstract (arXiv)

We investigate the problem of multi-robot coordinated planning in environments where the robots may have to operate in close proximity to each other. We seek computationally efficient planners that ensure safe paths and adherence to kinematic constraints. We extend the central planner dRRT* with our variant, fast-dRRT (fdRRT), with the intention being to use in tight environments that lead to a high degree of coupling between robots. Our algorithm is empirically shown to achieve the trade-off between computational time and solution quality, especially in tight environments.