Path planning of multiple robots using concurrent algorithm with shared cycles

Path planning algorithms for multiple robots have been needed and developed as the use of robots in industrial setting has been increased. The issue of multiple robots' path planning in many researches is to guarantee completeness and scalability. Recently, a couple of papers considered the issue by using the graph theory in roadmap representation. However, to move all robots to their goals with the results, it takes long time although they guarantee completeness and scalability. In this paper, we propose a path planning algorithm which can improve the weakness of existing algorithms by moving robots concurrently retaining the completeness and scalability. Thus, the proposed algorithm of this paper presents high work productivity in multiple robots' path planning.