Robust Multi-agent path finding

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

פרסום מחקרי: פרק בספר / בדוח / בכנספרסום בספר כנסביקורת עמיתים

תקציר

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.

שפה מקוריתאנגלית אמריקאית
כותר פרסום המארחProceedings of the 11th International Symposium on Combinatorial Search, SoCS 2018
עורכיםVadim Bulitko, Sabine Storandt
עמודים2-9
מספר עמודים8
מסת"ב (אלקטרוני)9781577358022
סטטוס פרסוםפורסם - 1 ינו׳ 2018
אירוע11th International Symposium on Combinatorial Search, SoCS 2018 - Stockholm, שבדיה
משך הזמן: 14 יולי 201815 יולי 2018

סדרות פרסומים

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

כנס

כנס11th International Symposium on Combinatorial Search, SoCS 2018
מדינה/אזורשבדיה
עירStockholm
תקופה14/07/1815/07/18

ASJC Scopus subject areas

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