Multi-agent Path Planning with Non-constant Velocity Motion

Multi-agent path planning has wide application in fields such as robotics, transportation, logistics, computer games, etc.. To formulate the multi-agent path finding as a concisely discretized problem, most of the previous works did not construct a detailed motion model of each agent. While many elegant algorithms were proposed in the literature, a method to efficiently plan the paths for multi agents with non-constant velocity is still lacking. In this paper, we propose two methods CRISE and COB to extend the existing algorithms for non-constant velocity motion path planning.