Fast Collision Checking: From Single Robots to Multi-Robot Teams

05/10/2013

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by   Joshua Bialkowski, et al.

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We examine three different algorithms that enable the collision certificate method from [Bialkowski, et al.] to handle the case of a centralized multi-robot team. By taking advantage of symmetries in the configuration space of multi-robot teams, our methods can significantly reduce the number of collision checks vs. both [Bialkowski, et al.] and standard collision checking implementations.