Path planning is no substitute for intelligent behavior

摘要

This paper describes our experience implementing navigation behavior for two different autonomous multi-robot systems using two very different approaches. We describe the problems encountered and their solutions and the extensions necessary to support planning for multiple robots in our application domains. We conclude that there are many applications of path-planning that would be well served by the introduction of a little domain specific intelligent behavior as a substitute for brute force path planning over unnecessarily large configuration spaces.