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Optimal multi-robot path planning on graphs - four objectives

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Optimal Multi-Robot Path Planning on Graphs: Complete Algorithms and Effective Heuristics.

mrmp-tor-13

Source code used in the following work

J. Yu and S. M. LaValle. Optimal Multi-Robot Path Planning on Graphs: Complete Algorithms and Effective Heuristics. IEEE Transactions on Robotics, 32(5), page(s): 1163 - 1177, 2016.

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Gurobi (6.5+): http://www.gurobi.com/

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