Solving Abstract Cooperative Path-Finding in Densely Populated Environments

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216208%3A11320%2F14%3A10126392" target="_blank" >RIV/00216208:11320/14:10126392 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1111/coin.12002" target="_blank" >http://dx.doi.org/10.1111/coin.12002</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1111/coin.12002" target="_blank" >10.1111/coin.12002</a>

Result language
angličtina
Original language name
Solving Abstract Cooperative Path-Finding in Densely Populated Environments
Original language description
The problem of cooperative path-finding is addressed in this work. A set of agents moving in a certain environment is given. Each agent need to reach a given goal location. The task is to find spatial temporal paths for agents such that they eventually reach their goals by following these paths without colliding with each other. An abstraction where the environment is modeled as an undirected graph is adopted - vertices represent locations and edges represent passable regions. Agents are modeled as elements placed in the vertices. Space occupancy by agents is represented by a constraint that at most one agent can be located in a vertex at a time. At least one vertex remains unoccupied to allow agents to move. An agent can move into unoccupied neighboring vertex or into a vertex being currently vacated in a certain case. Two novel scalable algorithms for solving cooperative path-finding in bi connected graphs are presented. They are both targeted on the case with environments densely po
Czech name
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Czech description
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Type
J<sub>x</sub> - Unclassified - Peer-reviewed scientific article (Jimp, Jsc and Jost)
CEP classification
JD - Use of computers, robotics and its application
OECD FORD branch
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Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Publication year
2014
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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