Multi-agent path finding on real robots
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216208%3A11320%2F19%3A10408102" target="_blank" >RIV/00216208:11320/19:10408102 - isvavai.cz</a>
Result on the web
<a href="https://verso.is.cuni.cz/pub/verso.fpl?fname=obd_publikace_handle&handle=Y3n95.O05X" target="_blank" >https://verso.is.cuni.cz/pub/verso.fpl?fname=obd_publikace_handle&handle=Y3n95.O05X</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.3233/AIC-190621" target="_blank" >10.3233/AIC-190621</a>
Alternative languages
Result language
angličtina
Original language name
Multi-agent path finding on real robots
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
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
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
<a href="/en/project/GA19-02183S" target="_blank" >GA19-02183S: Smart Swarms: From Theory to Practice</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2019
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
AI Communications
ISSN
0921-7126
e-ISSN
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Volume of the periodical
32
Issue of the periodical within the volume
3
Country of publishing house
NL - THE KINGDOM OF THE NETHERLANDS
Number of pages
15
Pages from-to
175-189
UT code for WoS article
000475754800002
EID of the result in the Scopus database
2-s2.0-85069207691