Decentralized graph searches


These projects are studying how to search N graphs for paths that satisfy constraints in between them. The challenge is to be able to (a) find these paths efficiently, (b) scale with N, (c) minimize well the cumulative cost of the solution, (d) provide theoretical analysis of the performance guarantees. These projects arise from the problem of path planning for multi-agent robotic systems.

Applications:
Path planning for two ground and one aerial robots with time-parameterized distance constraints (joint project with S. Bhattacharya and V. Kumar). movie Path planning for three ground robots with time-parameterized distance constraints (joint project with S. Bhattacharya and V. Kumar). movie