This paper presents a fast algorithm for moving multiple robots from their initial to final positions in the presence of obstacles. The algorithm guarantees that neither collisions occur among robots and obstacles, nor collisions among the multiple robots, without loosing much of the robot's speeds.
Based on heuristic guided search function, a collision free path segments are designed for each robot to avoid obstacles, while ignoring the movements of other robots. The algorithm then move the robots with their maximum speeds along the designed paths to test the collision among robots. When a collision is detected, the algorithm computes the maximum robot's speeds to just avoid collisions, according to a robot priority list and the maximum allowed speed for each robot