Decentralized prioritized planning in large multirobot teams

In this paper, we address the problem of distributed path planning for large teams of hundreds of robots in constrained environments. We introduce two distributed prioritized planning algorithms: an efficient, complete method which is shown to converge to the centralized prioritized planner solution, and a sparse method in which robots discover collisions probabilistically. Planning is divided into a number of iterations, during which every robot simultaneously and independently computes a planning solution based on other robots' path information from the previous iteration. Paths are exchanged in ways that exploit the cooperative nature of the team and a statistical phenomenon known as the “birthday paradox”. Performance is measured in simulated 2D environments with teams of up to 240 robots. We find that in moderately constrained environments, these methods generate solutions of similar quality to a centralized prioritized planner, but display interesting communication and planning time characteristics.