This paper describes the heuristics used by the Shadoks team for the CG:SHOP 2021 challenge. This year's problem is to coordinate the motion of multiple robots in order to reach their targets without collisions and minimizing the makespan. Using the heuristics outlined in this paper, our team won first place with the best solution to 202 out of 203 instances and optimal solutions to at least 105 of them.

中文翻译：

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Shadoks方法实现低机率协调运动规划

本文介绍了Shadoks团队用于CG：SHOP 2021挑战的启发式方法。今年的问题是协调多个机器人的运动，以便在不发生碰撞的情况下达到目标，并最大程度地缩短制造时间。使用本文概述的启发式方法，我们的团队凭借针对203个实例中的202个实例的最佳解决方案以及针对其中至少105个实例的最优解决方案赢得了第一名。