Abstract
Prioritized planning approaches are commonly used for finding coordinated trajectories for multiple robots so as to prevent collision among multiple robots. Classical methods for the same fail to solve the problem instance when there are conflict situations. In this paper, we analyze such conflict situations and offer heuristic solutions for the multiple robots to reach their destination or goal positions. The contributions in this paper are: (1) Identification of conflict situations where classical prioritized path planning methods failed to provide deterministic solution. (2) Propose heuristic solutions for overcoming the conflict situations.
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