Multi-Agent Path Planning with Asymmetric Interactions In Tight Spaces

by   Vismay Modi, et al.

By starting with the assumption that motion is fundamentally a decision making problem, we use the world-line concept from Special Relativity as the inspiration for a novel multi-agent path planning method. We have identified a particular set of problems that have so far been overlooked by previous works. We present our solution for the global path planning problem for each agent and ensure smooth local collision avoidance for each pair of agents in the scene. We accomplish this by modeling the trajectories of the agents through 2D space and time as curves in 3D. Global path planning is solved using a modified Djikstra's algorithm to ensure that initial trajectories for agents do not intersect. We then solve for smooth local trajectories using a quasi-Newton interior point solver, providing the trajectory curves with a radius to turn them into rods. Subsequently, resolving collision of the rods ensures that no two agents are in the same spatial position at the same time. This space-time formulation allows us to simulate previously ignored phenomena such as highly asymmetric interactions in very constrained environments. It also provides a solution for scenes with unnaturally symmetric agent alignments without the need for jittering agent positions or velocities.


page 2

page 3

page 4

page 5

page 6

page 7

page 8

page 11


Path Planning Games

Path planning is a fundamental and extensively explored problem in robot...

Periodic Multi-Agent Path Planning

Multi-agent path planning (MAPP) is the problem of planning collision-fr...

Moving Virtual Agents Forward in Space and Time

This article proposes an adaptation from the model of Bianco for fast-fo...

Reconfigurable formations of quadrotors on Lissajous curves for surveillance applications

This paper proposes trajectory planning strategies for online reconfigur...

Proximal operators for multi-agent path planning

We address the problem of planning collision-free paths for multiple age...

Reducing Collision Risk in Multi-Agent Path Planning: Application to Air traffic Management

To minimize collision risks in the multi-agent path planning problem wit...

SOCIALMAPF: Optimal and Efficient Multi-Agent Path Finding with Strategic Agents for Social Navigation

We propose an extension to the MAPF formulation, called SocialMAPF, to a...

Please sign up or login with your details

Forgot password? Click here to reset