7.2.2 Decoupled planning

Decoupled approaches first design motions for the robots while ignoring robot-robot interactions. Once these interactions are considered, the choices available to each robot are already constrained by the designed motions. If a problem arises, these approaches are typically unable to reverse their commitments. Therefore, completeness is lost. Nevertheless, decoupled approaches are quite practical, and in some cases completeness can be recovered.



Subsections

Steven M LaValle 2020-08-14