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A Flow Based Planning Method for Multi-Agent Progression with Deployable Agents and Communication Constraints

Year: 2025

Type: conference-paper

Abstract: This paper deals with the problem of planning multiple agent movements through a mission area modeled as a graph. The agents undergo classic communication and temporal constraints, and the quantitative objective is the minimization of the team’s traversal makespan. Additional specificities make the problem a particularly complex routing one: on some nodes are associated durative and coordinated actions to perform, which can involve either the co-presence of several agents or time dependencies. Also, some agents are deployable and able to move on denser graphs: namely, aerial robots can take off and land on the ground vehicle at any planned position, and can fly above ground obstacles. We model the problem as a CSP and solve it with a network flow model. Results show the efficacy of the model and resolution scheme, which provides solutions with one or two orders of magnitude smaller time than a numerical temporal hierarchical planning model, with only a few percent loss of optimality.

Source: Proceedings of the International Conference on Automated Planning and Scheduling

DOI: 10.1609/icaps.v35i1.36137

Authors: Emile Siboulet, Roland Godet, Arthur Bit-Monnot, Marc-Emmanuel Coupvent Des Graviers, Christophe Guettier, Simon Lacroix

Institutions: Laboratoire d'Analyse et d'Architecture des Systèmes, Safran (France), Institut National des Sciences Appliquées de Toulouse, Office National d'Études et de Recherches Aérospatiales, Université de Toulouse

Language: English

Topic: Robotic Path Planning Algorithms

Subfield: Computer Vision and Pattern Recognition

Field: Computer Science

Domain: Physical Sciences

Open Access status: diamond

OpenAlex ID: W4414223326

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