1. Motion Planning for Multiple Robots Prof. Dan Halperin Mr. Barak Raveh Mr. Kiril Solovey Aharon Friedman Uri Nir Yuval Natanson 31.8.2011

2. Centralized Path Planning for Multiple Robots: Optimal Decoupling into Sequential Plans

3. Our Challenges Algorithm implementation from scratch. GUI implementation. Improvements.

4. Final Outcome (Demonstration (11))

5. Main Problem Bottleneck in building the configuration graph Ways to tackle: – Try to improve efficiency of the method. – Go around it (approximating hard problems).

6. Improving the Method Originally written in a straightforward logical manner. Rewritten as a recursive method. (Demonstration (7))

7. Pattern Matching Providing an approximate solution before approaching main algorithm. Recognizing palindrome patterns. (Demonstration (8))

8. What We Can’t (Reasonably) Solve (Demonstration (3))

9. What’s Next Improving the method of building the configuration graph even more. Further Pattern Matching.

10. Questions? We will be happy to answer.