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Effective Methods for Generating Collision Free Paths for Multiple Robots based on Collision Type (Demonstration) Fan Liu, Ajit Narayanan, Quan Bai School of Computing and Mathematical Sciences Auckland University of Technology Auckland, New Zealand {richard.liu, ajit.narayanan, quan.bai}@aut.ac.nz 1. COLLISION TYPES IN MULTI-ROBOT SYSTEMS Collision avoidance is an important topic in multi-robot systems. Existing multi-robot pathfinding approaches ig- nore sideswipe collisions among robots (i.e., only consider the collision which two agents try to occupy the same node during the same time-step) [1, 3, 4], and allow diagonal move (a) (b) (c) between two adjacent nodes (e.g., Figure 1(b)). However, in many real world applications, sideswipe collisions may also Figure 2: Illustration of deadloop. The green square and block robots’ movements or cause deadlocks. For example, the red square are the robot positions and the goal positions as shown in Figure 1, if the size of two robots is as big as for two robots, respectively. R1 and R2 are robot 1 and the grid size they occupied, collisions will happen not only robot 2. (a) The initial position for two robots. (b) and between robots R1 and R2 in the situation depicted in Fig- (c) The dead looping condition is encountered and repeated ure 1(a), but also that in Figure 1(b), which is typically not in-between (b) and (c) infinitely as each robot makes a move considered as a collision in existing multi-robot systems. that mir