Multi-agent Path Finding for Indoor Quadcopters

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21240%2F23%3A00371955" target="_blank" >RIV/68407700:21240/23:00371955 - isvavai.cz</a>

Result on the web

<a href="https://doi.org/10.1007/978-3-031-37616-0_34" target="_blank" >https://doi.org/10.1007/978-3-031-37616-0_34</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1007/978-3-031-37616-0_34" target="_blank" >10.1007/978-3-031-37616-0_34</a>

Result language

angličtina

Original language name

Multi-agent Path Finding for Indoor Quadcopters

Original language description

We study the planning-acting loop for the multi-agent path finding problem (MAPF). MAPF is a problem of navigating agents from their start positions to specified individual goal positions so that agents do not collide with each other. We focus on executing MAPF plans with a group of Crazyflies, small indoor quadcopters, for which we developed a platform that integrates decision theoretic planning and plan execution modules. Our platform can be used for testing suitability of variants of MAPF for execution with real agents. We show how to modify the existing continuous-time conflict-based search algorithm (CCBS) to produce plans that are suitable for execution with the quadcopters. Our finding is that the CCBS algorithm allows for extensions that can produce safe plans for quadcopters, namely cylindrical protection zone around each quadcopter can be introduced at the planning level.

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/GA22-31346S" target="_blank" >GA22-31346S: logicMOVE: Logic Reasoning in Motion Planning for Multiple Robotic Agents</a><br>

Continuities

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

Publication year

2023

Confidentiality

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

Article name in the collection

Advances in Practical Applications of Agents, Multi-Agent Systems, and Cognitive Mimetics. The PAAMS Collection

ISBN

978-3-031-37615-3

ISSN

0302-9743

e-ISSN

1611-3349

Number of pages

6

Pages from-to

409-414

Publisher name

Springer-Verlag

Place of publication

Berlin

Event location

Guimaraes

Event date

Jul 12, 2023

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

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