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This is a Quantitative Study study (also classified as: Experimental Study).

October 10, 2025Open Access

LF: Online Multi-Robot Path Planning Meets Optimal Trajectory Control

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This framework integrates multi-agent pathfinding and dynamic trajectory control, ensuring efficient navigation for holonomic robots.

The proposed approach ensures reliable point-to-point navigation for holonomic robots in dynamic environments.
Key metrics include collision- and deadlock-free paths calculated rapidly through a centralized multi-agent pathfinding mechanism.
Utilizing a robust feedback control system, the framework adapts to asynchronous and partial goal updates for efficient operation.
Demonstrations highlight the execution of agile maneuvers by 15 real multirotors amid dynamic workspace changes.

Shankar et al. (2025) studied this question.

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