Date of Award


Degree Name

MS in Electrical Engineering


Electrical Engineering


College of Engineering


Xiao-Hua (Helen) Yu

Advisor Department

Electrical Engineering

Advisor College

College of Engineering


In this thesis, the viability of decentralized, noncooperative multi-robot path planning algorithms is tested. Three algorithms based on the Batch Informed Trees (BIT*) algorithm are presented. The first of these algorithms combines Optimal Reciprocal Collision Avoidance (ORCA) with BIT*. The second of these algorithms uses BIT* to create a path which the robots then follow using an artificial potential field (APF) method. The final algorithm is a version of BIT* that supports replanning. While none of these algorithms take advantage of sharing information between the robots, the algorithms are able to guide the robots to their desired goals, with the algorithm that combines ORCA and BIT* having the robots successfully navigate to their goals over 93% for multiple environments with teams of two to eight robots.

test_replan_nodes.csv.gz (1 kB)
Data File for Replanning Tests

results_2.csv.gz (44 kB)
Data File for Metrics

nodes_2.csv.gz (42 kB)
robot_time_2.csv.gz (51 kB)
waypoints_2.csv.gz (716 kB)