We address a variant of multi-agent path finding in continuous environment (CE-MAPF), where agents move along sets of smooth curves. Collisions between agents are resolved via avoidance in the space domain. A new Continuous Environment Conflict-Based Search (CE-CBS) algorithm is proposed in this work. 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 diverse CE-MAPF instances. Experimental results show that CE-CBS is competitive w.r.t. to other algorithms that consider continuous aspect in MAPF such as MAPF with continuous time.
@article{arxiv.2409.10680,
title = {Multi-agent Path Finding in Continuous Environment},
author = {Kristýna Janovská and Pavel Surynek},
journal= {arXiv preprint arXiv:2409.10680},
year = {2024}
}
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The 36th IEEE International Conference on Tools with Artificial Intelligence (ICTAI). 2024, In press