New Flow-based Heuristic for Search Algorithms Solving Multi-agent Path Finding

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216208%3A11320%2F17%3A10366717" target="_blank" >RIV/00216208:11320/17:10366717 - isvavai.cz</a>

Výsledek na webu

<a href="http://dx.doi.org/10.5220/0006184504510458" target="_blank" >http://dx.doi.org/10.5220/0006184504510458</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.5220/0006184504510458" target="_blank" >10.5220/0006184504510458</a>

Jazyk výsledku

angličtina

Název v původním jazyce

New Flow-based Heuristic for Search Algorithms Solving Multi-agent Path Finding

Popis výsledku v původním jazyce

We address the problem of optimal multi-agent path finding (MAPF) in this paper. The task is to find a set of actions for each agent in know terrain so that each agent arrives to its desired destination from a given starting position. Agents are not allowed to collide with each other along their paths. Furthermore, a solution that minimizes the total time is required. In this paper we study search-based algorithms that systematically explore state space. These algorithms require a good heuristic function that can improve the computational effectiveness by changing the order in which the states are expanded. We propose such new heuristic, which is based on relaxation of MAPF solving via its reduction to multi-commodity flow over time expanded graph. The multi-commodity flow is relaxed to single commodity flow, which can be solved in polynomial time. We show that our new heuristic is monotone and therefore can be used in search-based algorithms effectively. We also give theoretical analysis of the new heuristic and compare it experimentally with base-line heuristics that are often used.

Název v anglickém jazyce

New Flow-based Heuristic for Search Algorithms Solving Multi-agent Path Finding

Popis výsledku anglicky

We address the problem of optimal multi-agent path finding (MAPF) in this paper. The task is to find a set of actions for each agent in know terrain so that each agent arrives to its desired destination from a given starting position. Agents are not allowed to collide with each other along their paths. Furthermore, a solution that minimizes the total time is required. In this paper we study search-based algorithms that systematically explore state space. These algorithms require a good heuristic function that can improve the computational effectiveness by changing the order in which the states are expanded. We propose such new heuristic, which is based on relaxation of MAPF solving via its reduction to multi-commodity flow over time expanded graph. The multi-commodity flow is relaxed to single commodity flow, which can be solved in polynomial time. We show that our new heuristic is monotone and therefore can be used in search-based algorithms effectively. We also give theoretical analysis of the new heuristic and compare it experimentally with base-line heuristics that are often used.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

<a href="/cs/project/8G15027" target="_blank" >8G15027: INTEGRACE HEURISTICKÉHO PROHLEDÁVÁNÍ A KOMPILAČNÍCH TECHNIK PRO HLEDÁNÍ CEST S MNOHA AGENTY</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2017

Kód důvěrnosti údajů

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

Název statě ve sborníku

ICAART: PROCEEDINGS OF THE 9TH INTERNATIONAL CONFERENCE ON AGENTS AND ARTIFICIAL INTELLIGENCE, VOL 2

ISBN

978-989-758-220-2

ISSN

—

e-ISSN

neuvedeno

Počet stran výsledku

8

Strana od-do

451-458

Název nakladatele

SCITEPRESS

Místo vydání

SETUBAL

Místo konání akce

Porto

Datum konání akce

24. 2. 2017

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000413244200045