Navigating the Clutter: Waypoint-Based Bi-Level Planning for Multi-Robot Systems

ArXi:2604.21138v1 Announce Type: cross Multi-robot control in cluttered environments is a challenging problem that involves complex physical constraints, including robot-robot collisions, robot-obstacle collisions, and unreachable motions. Successful planning in such settings requires joint optimization over high-level task planning and low-level motion planning, as violations of physical constraints may arise from failures at either level.