Heuristic Planner for Communication-Constrained Multi-Agent Multi-Goal Path Planning

Abstract-- In robotics, coordinating a group of robots is an essential task. This work presents the communicationconstrained multi-agent multi-goal path planning problem and proposes a graph-search based algorithm to address this task. Given a fleet of robots, an environment represented by a weighted graph, and a sequence of goals, the aim is to visit all the goals without breaking the communication constraints between the agents, minimizing the completion time. While the red agent visits the first goal, the other two agents position themselves favorably with respect I. As long as the communication remains are many ways the agents might interact with each other unbroken, the whole system works as if each of the robots and their environment, and there are many limitations one had access to the computational power of the arbiter. This work is motivated by the constraint of As a similar example, imagine a mother ship-style drone limited communication distance. It establishes the problem that sends out small drones.