Robust Multi-agent path finding

Dor Atzmon, Roni Stern, Ariel Felner, Glenn Wagner, Roman Bartak, Neng Fa Zhou

نتاج البحث: فصل من :كتاب / تقرير / مؤتمرمنشور من مؤتمرمراجعة النظراء

ملخص

In the multi-agent path-finding (MAPF) problem, the task is to find a plan for moving a set of agents from their initial locations to their goals without collisions. Following this plan, however, may not be possible due to unexpected events that delay some of the agents. We explore the notion of k- robust MAPF, where the task is to find a plan that can be followed even if a limited number of such delays occur. k- robust MAPF is especially suitable for agents with a control mechanism that guarantees that each agent is within a limited number of steps away from its pre-defined plan. We propose sufficient and required conditions for finding a k-robust plan, and show how to convert several MAPF solvers to find such plans. Then, we show the benefit of using a k-robust plan during execution, and for finding plans that are likely to succeed.

اللغة الأصليةإنجليزيّة أمريكيّة
عنوان منشور المضيفProceedings of the 11th International Symposium on Combinatorial Search, SoCS 2018
المحررونVadim Bulitko, Sabine Storandt
الصفحات2-9
عدد الصفحات8
رقم المعيار الدولي للكتب (الإلكتروني)9781577358022
حالة النشرنُشِر - 1 يناير 2018
الحدث11th International Symposium on Combinatorial Search, SoCS 2018 - Stockholm, السويد
المدة: ١٤ يوليو ٢٠١٨١٥ يوليو ٢٠١٨

سلسلة المنشورات

الاسمProceedings of the 11th International Symposium on Combinatorial Search, SoCS 2018

!!Conference

!!Conference11th International Symposium on Combinatorial Search, SoCS 2018
الدولة/الإقليمالسويد
المدينةStockholm
المدة١٤/٠٧/١٨١٥/٠٧/١٨

All Science Journal Classification (ASJC) codes

  • !!Computer Networks and Communications

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