ESO-MAPF: Bridging Discrete Planning and Continuous Execution in Multi-Agent Pathfinding

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21240%2F21%3A00350485" target="_blank" >RIV/68407700:21240/21:00350485 - isvavai.cz</a>

Result on the web

<a href="https://ojs.aaai.org/index.php/AAAI/article/view/17997" target="_blank" >https://ojs.aaai.org/index.php/AAAI/article/view/17997</a>

DOI - Digital Object Identifier

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Result language

angličtina

Original language name

ESO-MAPF: Bridging Discrete Planning and Continuous Execution in Multi-Agent Pathfinding

Original language description

We present ESO-MAPF, a research and educational platform for experimenting with multi-agent path finding (MAPF). ESO-MAPF focuses on demonstrating the planning-acting chain in the MAPF domain. MAPF is the task of finding collision free paths for agents from their starting positions to given individual goals. The standard MAPF uses the abstraction where agents move in an undirected graph via traversing its edges in discrete steps. The discrete abstraction simplifies the planning phase however resulting discrete plans often need to be executed in the real continuous environment. ESO-MAPF shows how to bridge discrete planning and the acting phase in which the resulting plans are executed on physical robots. We simulate centralized plans on a group of OZOBOT Evo robots using their reflex functionalities and outputs on the surface of the screen that serves as the environment. Various problems arising along the planning-acting chain are illustrated to emphasize the educational point of view.

Czech name

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Czech description

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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)

Project

<a href="/en/project/GA19-17966S" target="_blank" >GA19-17966S: intALG-MAPFg: Intelligent Algorithms for Generalized Variants of Multi-Agent Path Finding</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2021

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

Proceedings of the Thirty-Fifth AAAI Conference on Artificial Intelligence

ISBN

978-1-57735-866-4

ISSN

2159-5399

e-ISSN

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Number of pages

3

Pages from-to

16014-16016

Publisher name

AAAI Press

Place of publication

Menlo Park

Event location

Virtual

Event date

Feb 2, 2021

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

000681269807198