Archive | 2021
Shadoks Approach to Low-Makespan Coordinated Motion Planning
Abstract
This paper describes the heuristics used by the Shadoks1 team for the CG:SHOP 2021 challenge. This year’s problem is to coordinate the motion of multiple robots in order to reach their targets without collisions and minimizing the makespan. Using the heuristics outlined in this paper, our team won first place with the best solution to 202 out of 203 instances and optimal solutions to at least 105 of them. 2012 ACM Subject Classification Theory of computation → Computational geometry; Computing methodologies → Motion path planning