Safe Interval RRT* for Scalable Multi-Robot Path Planning in Continuous Space
Published in Under revision, 2024
This paper proposes Safe Interval RRT*, a scalable algorithm for multi-robot path planning in continuous spaces.
Highlights
- Supports up to 100 omnidirectional robots in simulation
- Integrated with NVIDIA Isaac Sim for realistic validation
- Compared against Graph Transformer-based MAPF baselines
Media
🎥 Demo Video
📄 ArXiv Preprint