Work

Multi-Agent Path Finding in Continuous Environment

Year: 2024

Type: conference-paper

Abstract: We address a variant of multi-agent path finding in continuous environment (SC-MAPF), where agents move along sets of smooth curves. Collisions between agents are resolved via avoidance in the space domain. In this work a new Continuous Environment Conflict-Based Search (CE-CBS) algorithm is proposed. CE-CBS combines conflict-based search (CBS) for the high-level search framework with RRT* for low-level path planning. The CE-CBS algorithm is tested under various settings on various SC-MAPF instances. Experimental results show that CE-CBS is competitive w.r.t. other algorithms that consider the continuous aspect in MAPF such as MAPF with continuous time.

Source: Proceedings - International Conference on Tools with Artificial Intelligence, TAI

DOI: 10.1109/ictai62512.2024.00105

Authors: Kristýna Janovská, Pavel Surynek

Institution: Czech Technical University in Prague

Language: English

Topic: Robotic Path Planning Algorithms

Subfield: Computer Vision and Pattern Recognition

Field: Computer Science

Domain: Physical Sciences

Open Access status: green

Funders: Grantová Agentura České Republiky, Research Center for Informatics, Czech Technical University in Prague

Awards: G7531047002, logicMOVE: Logic Reasoning in Motion Planning for Multiple Robotic Agents