DeepAI AI Chat
Log In Sign Up

Finding Coordinated Paths for Multiple Holonomic Agents in 2-d Polygonal Environment

02/14/2014
by   Pavel Janovský, et al.
Czech Technical University in Prague
0

Avoiding collisions is one of the vital tasks for systems of autonomous mobile agents. We focus on the problem of finding continuous coordinated paths for multiple mobile disc agents in a 2-d environment with polygonal obstacles. The problem is PSPACE-hard, with the state space growing exponentially in the number of agents. Therefore, the state of the art methods include mainly reactive techniques and sampling-based iterative algorithms. We compare the performance of a widely-used reactive method ORCA with three variants of a popular planning algorithm RRT* applied to multi-agent path planning and find that an algorithm combining reactive collision avoidance and RRT* planning, which we call ORCA-RRT* can be used to solve instances that are out of the reach of either of the techniques. We experimentally show that: 1) the reactive part of the algorithm can efficiently solve many multi-agent path finding problems involving large number of agents, for which RRT* algorithm is often unable to find a solution in limited time and 2) the planning component of the algorithm is able to solve many instances containing local minima, where reactive techniques typically fail.

READ FULL TEXT
02/12/2013

Multi-agent RRT*: Sampling-based Cooperative Pathfinding (Extended Abstract)

Cooperative pathfinding is a problem of finding a set of non-conflicting...
08/03/2020

A Combination of Theta*, ORCA and Push and Rotate for Multi-agent Navigation

We study the problem of multi-agent navigation in static environments wh...
09/17/2021

DMAPF: A Decentralized and Distributed Solver for Multi-Agent Path Finding Problem with Obstacles

Multi-Agent Path Finding (MAPF) is a problem of finding a sequence of mo...
08/06/2021

Sampling-based multi-agent choreography planning: a metric space approach

We present a metric space approach for high-dimensional sample-based tra...
12/05/2022

Multi Agent Path Finding using Evolutionary Game Theory

In this paper, we consider the problem of path finding for a set of homo...
07/02/2018

Path Finding for the Coalition of Co-operative Agents Acting in the Environment with Destructible Obstacles

The problem of planning a set of paths for the coalition of robots (agen...
05/24/2019

winPIBT: Expanded Prioritized Algorithm for Iterative Multi-agent Path Finding

Providing agents with efficient paths so as not to collide with each oth...