Multi-Agent Pathfinding for Indoor Quadcopters: A Platform for Testing Planning-Acting Loop

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21240%2F23%3A00371967" target="_blank" >RIV/68407700:21240/23:00371967 - isvavai.cz</a>

Result on the web

<a href="https://doi.org/10.5220/0012188200003543" target="_blank" >https://doi.org/10.5220/0012188200003543</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.5220/0012188200003543" target="_blank" >10.5220/0012188200003543</a>

Result language

angličtina

Original language name

Multi-Agent Pathfinding for Indoor Quadcopters: A Platform for Testing Planning-Acting Loop

Original language description

We study the planning-acting loop for multi-agent path finding with continuous time (MAPF R ). The standard 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. The standard MAPF takes place in a discrete graph with agents located in its vertices and instantaneous moves of agents across edges. MAPFR adds continuous elements to MAPF via allowing agents to wait in a vertex for arbitrary length of time to avoid the collision. We focus in this paper on executing MAPFR plans with a group of Crazyflies, small indoor quadcopters. We show how to modify the existing continuous-time conflict-based search algorithm (CCBS) for MAPF R to produce plans that are suitable for execution with the quadcopters. Our platform can be used for testing suitability of variants of MAPF for execution with real agents. Our finding is that the MAPF variant with continuous time and the related CCBS algorithm allows f or extensions that can produce safe plans for quadcopters, namely cylindrical protection zone around each quadcopter can be introduced at the planning level.

Czech name

—

Czech description

—

Type

D - Article in proceedings

CEP classification

—

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

Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics

ISBN

978-989-758-670-5

ISSN

2184-2809

e-ISSN

—

Number of pages

8

Pages from-to

221-228

Publisher name

SciTePress

Place of publication

Madeira

Event location

Rome

Event date

Nov 13, 2023

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

—