Work

Online Multi-Agent Pathfinding

Year: 2019

Type: conference-paper

Abstract: Multi-agent pathfinding (MAPF) is the problem of moving a group of agents to a set of target destinations while avoiding collisions. In this work, we study the online version of MAPF where new agents appear over time. Several variants of online MAPF are defined and analyzed theoretically, showing that it is not possible to create an optimal online MAPF solver. Nevertheless, we propose effective online MAPF algorithms that balance solution quality, runtime, and the number of plan changes an agent makes during execution.

Source: Proceedings of the AAAI Conference on Artificial Intelligence

DOI: 10.1609/aaai.v33i01.33017732

Authors: Jiří Švancara, Marek Vlk, Roni Stern, Dor Atzmon, Roman Barták

Institutions: Charles University, Ben-Gurion University of the Negev

Language: English

Topic: Robotic Path Planning Algorithms

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: diamond

Funders: Grantová Agentura České Republiky, Israel Science Foundation, Ministerstvo Průmyslu a Obchodu

Awards: G5372517914, MoRePlan: Modeling and Reformulating Planning Problems