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We introduce and empirically evaluate two techniques aimed at enhancing theperformance of multi-robot prioritized path planning. The first technique isthe deterministic procedure for re-scheduling (as opposed to well-knownapproach based on random restarts), the second one is the heuristic procedurethat modifies the search-space of the individual planner involved in theprioritized path finding.

Two Techniques That Enhance the Performance of Multi-robot Prioritized Path Planning