Resolving Spatial-Time Conflicts In A Set Of Any-angle Or Angle-constrained Grid Paths
Artificial Intelligence
2016-08-10 v1
Abstract
We study the multi-agent path finding problem (MAPF) for a group of agents which are allowed to move into arbitrary directions on a 2D square grid. We focus on centralized conflict resolution for independently computed plans. We propose an algorithm that eliminates conflicts by using local re-planning and introducing time offsets to the execution of paths by different agents. Experimental results show that the algorithm can find high quality conflict-free solutions at low computational cost.
Cite
@article{arxiv.1608.02763,
title = {Resolving Spatial-Time Conflicts In A Set Of Any-angle Or Angle-constrained Grid Paths},
author = {Konstantin Yakovlev and Anton Andreychuk},
journal= {arXiv preprint arXiv:1608.02763},
year = {2016}
}
Comments
as submitted to the 2nd Workshop on Multi-Agent Path Finding (http://www.andrew.cmu.edu/user/gswagner/workshop/ijcai_2016_multirobot_path_finding.html)