The assumption that robots' paths are pre-determined presents several drawbacks and limitations. Firstly, it restricts the flexibility of the robots to adapt to unforeseen obstacles or changes in the environment. In dynamic settings, static paths may lead to inefficient trajectories, as robots may need to stop or slow down significantly to avoid collisions, resulting in increased makespan.
Secondly, this assumption may not account for the variability in robot performance due to differences in speed, acceleration, or external factors such as terrain or environmental conditions. If the paths are fixed, robots with different capabilities may struggle to maintain synchronization, leading to potential delays and collisions.
Moreover, pre-determined paths can limit the exploration of alternative routes that may be more efficient. In scenarios where the environment is cluttered or uncertain, the inability to re-plan paths dynamically can hinder the robots' ability to optimize their trajectories effectively.
Lastly, the reliance on a priority queue based on static paths may lead to suboptimal performance if the initial priority assignments do not reflect the actual dynamics of the environment, resulting in increased delays and potential collisions.