Finding Coordinated Paths for Multiple Holonomic Agents in 2-D Polygonal Environment
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F14%3A00217978" target="_blank" >RIV/68407700:21230/14:00217978 - isvavai.cz</a>
Result on the web
<a href="http://aamas2014.lip6.fr/proceedings/aamas/p1117.pdf" target="_blank" >http://aamas2014.lip6.fr/proceedings/aamas/p1117.pdf</a>
DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
Finding Coordinated Paths for Multiple Holonomic Agents in 2-D Polygonal Environment
Original language description
Avoiding collisions is one of the vital tasks for systems of au- tonomous mobile agents. We focus on the problem of find- ing continuous coordinated paths for multiple mobile disc agents in a 2-d environment with polygonal obstacles. The problem is PSPACE-hard, with the state space growing ex- ponentially in the number of agents. Therefore, the state of the art methods include mainly reactive techniques and sampling-based iterative algorithms. We compare the performance of a widely-used reactive methodORCA with three variants of a popular planning algorithm RRT* applied to multi-agent path planning and find that an algorithm combining reactive collision avoid- ance and RRT* planning, which we call ORCA-RRT* can be used to solve instances that are outof the reach of ei- ther of the techniques. We experimentally show that: 1) the reactive part of the algorithm can efficiently solve many multi-agent path finding problems involving large number of agents, for which RRT* algorithm is ofte
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
IN - Informatics
OECD FORD branch
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Result continuities
Project
<a href="/en/project/LD12044" target="_blank" >LD12044: Agent-based Computing for Autonomic Road Transport Support Systems</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2014
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of the 13th International Conference on Autonomous Agents and Multiagent Systems
ISBN
978-1-4503-2738-1
ISSN
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e-ISSN
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Number of pages
7
Pages from-to
1117-1123
Publisher name
IFAAMAS
Place of publication
County of Richland
Event location
Paris
Event date
May 5, 2014
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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