├── src ├── Astar.m ├── MF_simply.m ├── heuristic.m ├── historic.m ├── map2Index.m ├── colorMaker.m ├── map20Test.mat ├── neatenNodes.m ├── MRPP_simplify.m ├── calTimeExtend.m ├── checkPassNodes.m ├── checkPosition.m ├── MaxFlowFunction.m ├── collision2Divide.m ├── divideAstarPath.m ├── drawGridPicture.m ├── drawPathPicture.m ├── index2Subscript.m ├── assignNoNameNodes.m ├── drawPathAnimation.m ├── findPathsCollision.m ├── generateRandomData.m ├── grid2VertexConnect.m ├── eliminateResultError.m ├── generateOriginalData.m ├── find2PathsMeetCollision.m ├── MRPP_simplify_experiments.m ├── find2PathsHeadOnCollision.m ├── minimalTimeEstimate_Astar.m ├── minimalTimeEstimate_Floyd.m ├── MRPP_simplify_experimentsFunc.m ├── drawMaxFlowPicture_simplify.m └── generateFlow_point2point_simplify.m ├── 指派任务 ├── 44Name.mat ├── 55Name.mat ├── 66Name.mat ├── 77Name.mat ├── 88Name.mat ├── 99Name.mat ├── 1010Name.mat ├── 2020Name.mat ├── 3030Name.mat ├── 4040Name.mat ├── 5050Name.mat ├── 6060Name.mat ├── 7070Name.mat ├── 8080Name.mat ├── 9090Name.mat ├── 100100Name.mat ├── 44NameResult.mat ├── 55NameResult.mat ├── 66NameResult.mat ├── 77NameResult.mat ├── map10NameTest.mat ├── map50NameTest.mat ├── map7NameTest.mat ├── 100100NameResult.mat ├── 1010NameResult.mat ├── 2020NameResult.mat ├── 3030NameResult.mat ├── 4040NameResult.mat ├── 5050NameResult.mat ├── 6060NameResult.mat ├── 7070NameResult.mat ├── 8080NameResult.mat ├── 9090NameResult.mat └── map7NameTestResult.mat ├── assigned_jobs.gif ├── unassigned_jobs.gif ├── 非指派任务 ├── 1010NoName.mat ├── 2020NoName.mat ├── 3030NoName.mat ├── 4040NoName.mat ├── 44NoName.mat ├── 5050NoName.mat ├── 55NoName.mat ├── 6060NoName.mat ├── 66NoName.mat ├── 7070NoName.mat ├── 77NoName.mat ├── 8080NoName.mat ├── 88NoName.mat ├── 9090NoName.mat ├── 99NoName.mat ├── 100100NoName.mat ├── 44NoNameResult.mat ├── 55NoNameResult.mat ├── 66NoNameResult.mat ├── 77NoNameResult.mat ├── map10NoNameTest.mat ├── map7NoNameTest.mat ├── 1010NoNameResult.mat ├── 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-------------------------------------------------------------------------------- 1 | # Multi-Robot-Path-Planning-for-Each-Robot-with-Several-Jobs-in-a-Single-Trip 2 | 3 | This is the code of paper Multi-Robot Path Planning for Each Robot with Several Jobs in a Single Trip 4 | If you want to use it, please cite 5 | 6 | @article{hu2020multi, 7 | title={Multi-Robot Path Planning for Each Robot with Several Jobs in a Single Trip}, 8 | author={Hu, Biao and Xu, Shengjie and Cao, Zhengcai}, 9 | journal={IFAC-PapersOnLine}, 10 | volume={53}, 11 | number={5}, 12 | pages={279--284}, 13 | year={2020}, 14 | publisher={Elsevier} 15 | } 16 | 17 | 18 | 19 | **Assigned Jobs(Square: Represents AGV (Automated Guided Vehicle), Pentagram: Represents assigned tasks for AGVs with corresponding colors, Numbering: Indicates the execution sequence of the tasks.)** 20 | ![](assigned_jobs.gif) 21 | 22 | 23 | **Unassigned Jobs(Square: Represents AGV (Automated Guided Vehicle), Pentagram: Represents corresponding unassigned tasks.)** 24 | ![](unassigned_jobs.gif) 25 | 26 | --------------------------------------------------------------------------------