A robust cooperative multi-robot path-planning in noisy environment

摘要

This paper suggests a robust multi-robot path-planning problem, in noisy environment, realized with particle swarm optimization. The problem has been solved by both the centralized and distributed approaches. Results show the robustness of our approaches in noisy environment. While comparing distributed approach with the centralized one, in terms of total path and number of collision, it is observed that in noisy environment former one is more sensitive than the later one.