Figures & data
FIGURE 1 The general structure of the algorithm.
FIGURE 2 The path exploration by multi neuron heuristic search.
FIGURE 3 MNHS planning for multiple robots.
FIGURE 4 Positions of the robots and the trajectory traced at various instances of time for first scenario. (Color figure available online.)
TABLE 1 Statistics of Various Robots for Scenario 1
FIGURE 5 The safety margins and distances maintained by the robot with other robots and obstacles. (Color figure available online.)
FIGURE 6 Positions of the robots and the trajectory traced at various instances of time for second scenario. (Color figure available online.)
TABLE 2 Statistics of Various Robots for Scenario 2
FIGURE 7 Positions of the robots and the trajectory traced at various instances of time for third scenario. (Color figure available online.)
TABLE 3 Statistics of Various Robots for Scenario 3
FIGURE 8 Positions of the robots and the trajectory traced at various instances of time for reverse of third scenario. (Color figure available online.)
FIGURE 9 The relation between momentum and the feasibility prediction accuracy.
FIGURE 10 The relation between momentum and the execution time.
FIGURE 11 The relation between path fitness and β.
FIGURE 12 The relation between time of execution and β.
FIGURE 13 The relation between time of execution and number of robots.
