Multi-agent Path Finding on Real Robots: First Experience with Ozobots
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216208%3A11320%2F18%3A10388815" target="_blank" >RIV/00216208:11320/18:10388815 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1007/978-3-030-03928-8_24" target="_blank" >https://doi.org/10.1007/978-3-030-03928-8_24</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1007/978-3-030-03928-8_24" target="_blank" >10.1007/978-3-030-03928-8_24</a>
Alternative languages
Result language
angličtina
Original language name
Multi-agent Path Finding on Real Robots: First Experience with Ozobots
Original language description
The problem of Multi-Agent Path Finding (MAPF) is to find paths for a fixed set of agents from their current locations to some desired locations in such a way that the agents do not collide with each other. This problem has been extensively theoretically studied, frequently using an abstract model, that expects uniform durations of moving primitives and perfect synchronization of agents/robots. In this paper we study the question of how the abstract plans generated by existing MAPF algorithms perform in practice when executed on real robots, namely Ozobots. In particular, we use several abstract models of MAPF, including a robust version and a version that assumes turning of a robot, we translate the abstract plans to sequences of motion primitives executable on Ozobots, and we empirically compare the quality of plan execution (real makespan, the number of collisions).
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2018
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Advances in Artificial Intelligence - IBERAMIA 2018
ISBN
978-3-030-03928-8
ISSN
0302-9743
e-ISSN
neuvedeno
Number of pages
12
Pages from-to
290-301
Publisher name
Springer
Place of publication
Neuveden
Event location
Trujillo, Peru
Event date
Nov 13, 2018
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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