Multi-agent Path Finding on Real Robots: First Experience with Ozobots

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216208%3A11320%2F18%3A10388815" target="_blank" >RIV/00216208:11320/18:10388815 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.1007/978-3-030-03928-8_24" target="_blank" >https://doi.org/10.1007/978-3-030-03928-8_24</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1007/978-3-030-03928-8_24" target="_blank" >10.1007/978-3-030-03928-8_24</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Multi-agent Path Finding on Real Robots: First Experience with Ozobots

Popis výsledku v původním jazyce

The problem of Multi-Agent Path Finding (MAPF) is to find paths for a fixed set of agents from their current locations to some desired locations in such a way that the agents do not collide with each other. This problem has been extensively theoretically studied, frequently using an abstract model, that expects uniform durations of moving primitives and perfect synchronization of agents/robots. In this paper we study the question of how the abstract plans generated by existing MAPF algorithms perform in practice when executed on real robots, namely Ozobots. In particular, we use several abstract models of MAPF, including a robust version and a version that assumes turning of a robot, we translate the abstract plans to sequences of motion primitives executable on Ozobots, and we empirically compare the quality of plan execution (real makespan, the number of collisions).

Název v anglickém jazyce

Multi-agent Path Finding on Real Robots: First Experience with Ozobots

Popis výsledku anglicky

The problem of Multi-Agent Path Finding (MAPF) is to find paths for a fixed set of agents from their current locations to some desired locations in such a way that the agents do not collide with each other. This problem has been extensively theoretically studied, frequently using an abstract model, that expects uniform durations of moving primitives and perfect synchronization of agents/robots. In this paper we study the question of how the abstract plans generated by existing MAPF algorithms perform in practice when executed on real robots, namely Ozobots. In particular, we use several abstract models of MAPF, including a robust version and a version that assumes turning of a robot, we translate the abstract plans to sequences of motion primitives executable on Ozobots, and we empirically compare the quality of plan execution (real makespan, the number of collisions).

Druh

D - Stať ve sborníku

CEP obor

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OECD FORD obor

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

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

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

Rok uplatnění

2018

Kód důvěrnosti údajů

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

Název statě ve sborníku

Advances in Artificial Intelligence - IBERAMIA 2018

ISBN

978-3-030-03928-8

ISSN

0302-9743

e-ISSN

neuvedeno

Počet stran výsledku

12

Strana od-do

290-301

Název nakladatele

Springer

Místo vydání

Neuveden

Místo konání akce

Trujillo, Peru

Datum konání akce

13. 11. 2018

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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