A common problem in multi-robot algorithms is collision detection. Many solutions exist, but often suffer from problems such as high computational cost or causing false negative or false positive detections. In practice, these problems can result in results that range from inefficiency and annoyance to catastrophic. The main contribution of this paper is to provide a high-level overview of major categories of collision detection, provide insight into the need for accurate and computationally efficient collision detection, and provide methods of collision detection and anticipatory collision avoidance  that are both computationally efficient and exact -- that is, they will never yield false negative or false positive detections . Supplementary reference for mathematics behind collision detection .
Recent work on the multi-agent pathfinding problem (MAPF) has begun to study agents with motion that is more complex, for example, with non-unit action durations and kinematic constraints. An important aspect of MAPF is collision detection. Many collision detection approaches exist, but often suffer from issues such as high computational cost or causing false negative or false positive detections. In practice, these issues can result in problems that range from inefficiency and annoyance to catastrophic. The main contributions of this paper are to provide a high-level overview of major categories of collision detection, and provide methods of collision detection and anticipatory collision avoidance for agents that are both computationally efficient and exact -- that is, they will never yield false negative or false positive detections .
R
A common problem in multi-robot algorithms is
Recent work on the multi-agent pathfinding problem (MAPF) has begun to study agents with motion that is more complex, for example, with non-unit action durations and kinematic constraints. An important aspect of MAPF is
R
solutions
collision detection approaches
R
problems
issues
R
problems
issues
R
results
problems
R
contribution
contributions
R
is
are
R
provide insight into the need for accurate and computationally efficient collision detection, and
and
A
for agents
D
. Supplementary reference for mathematics behind collision detection