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KITT
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K-ARC: Adaptive Coordination for Multi-Robot Kinodynamic Planning
Kinodynamic Adaptive Robot Coordination (K-ARC), an algorithm for planning collision-free, dynamically-feasible trajectories for teams of up to 32 mobile robots. K-ARC plans in segments, using optimization-based methods to find initial kinodynamic paths and sampling-based methods to resolve inter-robot conflicts, interleaving the two so each is applied where it is strongest. Building on the Adaptive Robot Coordination framework, it coordinates robots only when their paths actually conflict, saving computation and achieving up to an order-of-magnitude speed-up over prior multi-robot kinodynamic planners.