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We study the problem of planning collision-free paths for a group ofhomogeneous robots. We propose a novel approach for turning the paths that wereplanned egocentrically by the robots, e.g. without taking other robots' movesinto account, into collision-free trajectories and evaluate it empirically.Suggested algorithm is much faster (up to one order of magnitude) thanstate-of-the-art but this comes at the price of notable drop-down of thesolution cost.

Multi-robot Path Planning in Well-formed Infrastructures: Prioritized Planning vs. Prioritized Wait Adjustment (Preliminary Results)