Multi-robot Path Planning Problem Applied to Real World Enviroment

In this work, we deal with the Multirobot Path Planning (MPP) problem, one of the most extended problems in the planning literature due to its wide application to the real world. The counterpart of this work is the proposal of a new framework for the MPP problem that better represents its application to a natural-world environment, as opposed to other approaches with a more theoretical and academic demonstration. The new approach is inspired by a scenario in which a set of robots must move through a closed environment to complete a series of tasks. Along with the proposal of the new statement, a solution method is proposed with an anytime algorithm in which the route can be requested for a robot present in the scenario and planned for it, considering the presence of the rest of the robots. This algorithm is designed from its real application, so it is configurable according to the needs and prioritisation of the environment in which it moves. The results show that the proposed method is very efficient with the established problem of planning all the requested routes without collisions and fast response times.