Multi-agent RRT*: sampling-based cooperative pathfinding

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F13%3A00211543" target="_blank" >RIV/68407700:21230/13:00211543 - isvavai.cz</a>
Alternative codes found
RIV/68407700:21230/13:00211552
Result on the web
<a href="http://dl.acm.org/citation.cfm?id=2484920.2485174" target="_blank" >http://dl.acm.org/citation.cfm?id=2484920.2485174</a>
DOI - Digital Object Identifier
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Result language
angličtina
Original language name
Multi-agent RRT*: sampling-based cooperative pathfinding
Original language description
Cooperative pathfinding is a problem of finding a set of non-conflicting trajectories for a number of mobile agents. Its applications include planning for teams of mobile robots, such as autonomous aircrafts, cars, or underwater vehicles. The state-of-the-art algorithms for cooperative pathfinding typically rely on some heuristic forward-search pathfinding technique, where A* is often the algorithm of choice. Here, we propose MA-RRT*, a novel algorithm for multi-agent path planning that builds upon a recently proposed asymptotically-optimal sampling-based algorithm for finding single-agent shortest path called RRT*. We experimentally evaluate the performance of the algorithm and show that the sampling-based approach offers better scalability than the classical forward-search approach in relatively large, but sparse environments, which are typical in real-world applications such as multi-aircraft collision avoidance.
Czech name
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Czech description
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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)

Publication year
2013
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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