  We investigate the problem of multi-robot coordinated planning in
environments where the robots may have to operate in close proximity to each
other. We seek computationally efficient planners that ensure safe paths and
adherence to kinematic constraints. We extend the central planner dRRT* with
our variant, fast-dRRT (fdRRT), with the intention being to use in tight
environments that lead to a high degree of coupling between robots. Our
algorithm is empirically shown to achieve the trade-off between computational
time and solution quality, especially in tight environments.
