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Solving the Non-Crossing MAPF for non point-sized robots
1 : CITI Centre of Innovation in Telecommunications and Integration of services
Institut National des Sciences Appliquées de Lyon
We extended previous work on non-crossing MAPF by considering the impact of robots's size. A new definition of makespan is introducted to copy with the real-world constraints that robots motion must be synchronized with the presence of cables. We follow the principe of combining the local search method with CP model to resolve the problem to optimality on randomly generated instances.
