7.2.2 Decoupled planning

Decoupled approaches first design motions for the robots while ignoring robot-robot interactions. Once these interactions are considered, the choices available to each robot are already constrained by the designed motions. If a problem arises, these approaches are typically unable to reverse their commitments. Therefore, completeness is lost. Nevertheless, decoupled approaches are quite practical, and in some cases completeness can be recovered.


Steven M LaValle 2012-04-20