MRBUG: A Competitive
Multi-Robot Path Finding Algorithm
Shahar Sarid and Amir Shapiro
Mechanical Engineering Dept., Ben-Gurion University, Israel
Yoav Gabriely
Mechanical Engineering Dept., Technion, Israel
• On-line motion planning Algorithm for a
group of robots searching for a path
• A known target position in an a priori
unknown planar environment
• Any multi-robot on-line navigation
algorithm in an unknown environment
must have at least a quadratic
competitive performance
• MRBUG achieves the quadratic
competitive complexity and thus optimal