In robotics, coordinating a group of robots is an essential task. This work presents the communication-constrained multi-agent multi-goal path planning problem and proposes a graph-search based algorithm to address this task. Given a fleet of robots, an environment represented by a weighted graph, and a sequence of goals, the aim is to visit all the goals without breaking the communication constraints between the agents, minimizing the completion time. The resulting paths produced by our approach show how the agents can coordinate their individual paths, not only with respect to the next goal but also with respect to all future goals, all the time keeping the communication within the fleet intact.

翻译：在机器人学中，协调一组机器人是一项基本任务。本文提出了通信受限多智能体多目标路径规划问题，并提出一种基于图搜索的算法来解决该任务。给定一个机器人编队、一个由加权图表示的环境以及一个目标序列，目标是在不违反智能体间通信约束的前提下访问所有目标，并最小化完成时间。我们方法生成的路径展示了智能体如何协调各自的路径，不仅针对下一个目标，而且考虑到所有未来目标，同时始终保持编队内的通信连接。