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We present a sampling-based framework for multi-robot motion planning which combines an implicit representation of a roadmap with a novel approach for pathfinding in geometrically embedded graphs tailored for our setting.
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Kloder, S., Hutchinson, S.: Path Planning for Permutation-Invariant Multi-Robot Formations . In: ICRA. pp. 1797–1802 (2005)
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Turpin, M., Michael, N., Kumar, V.: Computationally Efficient Trajectory Planning and Task Assignment for Large Teams of Unlabeled Robots. In: ICRA. pp. 834–840 (2013)
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