  This paper presents VBMO, the Voting-Based Multi-Objective path planning
algorithm, that generates optimal single-objective plans, evaluates each of
them with respect to the other objectives, and selects one with a voting
mechanism. VBMO does not use hand-tuned weights, consider the multiple
objectives at every step of search, or use an evolutionary algorithm. Instead,
it considers how a plan that is optimal in one objective may perform well with
respect to others. VBMO incorporates three voting mechanisms: range, Borda, and
combined approval. Extensive evaluation in diverse and complex environments
demonstrates the algorithm's ability to efficiently produce plans that satisfy
multiple objectives.
