I have a scenario where I have multiple robots, say 2 in this case and they have to pick and drop some items at specified locations as shown in Figure.
There are two jobs to be done 1) pick up an object from A and drop at B 2) pick up an object from C and drop at D The possible routes are
A->B-C->D
A->C->B->D
A->C->D->B
C->D->A->B
C->A->D->B
C->A->B->D
I am a beginner in path planning and am finding it difficult to come up with a solution that can work in this case. I can use dikstra and A* etc to find all possible paths but in my case I have a constraint that the destination node cant be reached if the source node for that particular destination node hasnt been visited first.