DeepAI AI Chat
Log In Sign Up

Towards A Complete Multi-Agent Pathfinding Algorithm For Large Agents

08/25/2022
by   Stepan Dergachev, et al.
Institute for Systems Analysis of Russian Academy of Sciences
Higher School of Economics
0

Multi-agent pathfinding (MAPF) is a challenging problem which is hard to solve optimally even when simplifying assumptions are adopted, e.g. planar graphs (typically – grids), discretized time, uniform duration of move and wait actions etc. On the other hand, MAPF under such restrictive assumptions (also known as the Classical MAPF) is equivalent to the so-called pebble motion problem for which non-optimal polynomial time algorithms do exist. Recently, a body of works emerged that investigated MAPF beyond the basic setting and, in particular, considered agents of arbitrary size and shape. Still, to the best of our knowledge no complete algorithms for such MAPF variant exists. In this work we attempt to narrow this gap by considering MAPF for large agents and suggesting how this problem can be reduced to pebble motion on (general) graphs. The crux of this reduction is the procedure that moves away the agents away from the edge which is needed to perform a move action of the current agent. We consider different variants of how this procedure can be implemented and present a variant of the pebble motion algorithm which incorporates this procedure. Unfortunately, the algorithm is still incomplete, but empirically we show that it is able to solve much more MAPF instances (under the strict time limit) with large agents on arbitrary non-planar graphs (roadmaps) compared to the state-of-the-art MAPF solver – Continous Conflict-Based Search (CCBS).

READ FULL TEXT

page 1

page 2

page 3

page 4

01/16/2019

Multi-Agent Pathfinding (MAPF) with Continuous Time

MAPF is the problem of finding paths for multiple agents such that every...
03/18/2021

MS*: A New Exact Algorithm for Multi-agent Simultaneous Multi-goal Sequencing and Path Finding

In multi-agent applications such as surveillance and logistics, fleets o...
09/09/2022

Multi-Agent Path Finding on Strongly Connected Digraphs: feasibility and solution algorithms

On an assigned graph, the problem of Multi-Agent Pathfinding (MAPF) cons...
10/31/2018

Privacy Preserving Multi-Agent Planning with Provable Guarantees

In privacy-preserving multi-agent planning, a group of agents attempt to...
05/25/2023

Fine-Grained Complexity Analysis of Multi-Agent Path Finding on 2D Grids

Multi-Agent Path Finding (MAPF) is a fundamental motion coordination pro...
10/23/2014

Justifying and Improving Meta-Agent Conflict-Based Search

The Meta-Agent Conflict-Based Search (MA-CBS) is a recently proposed alg...
06/15/2023

House-Swapping with Objective Indifferences

We study the classic house-swapping problem of Shapley and Scarf (1974) ...