Multi-agent path finding on real robots

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216208%3A11320%2F19%3A10408102" target="_blank" >RIV/00216208:11320/19:10408102 - isvavai.cz</a>

Výsledek na webu

<a href="https://verso.is.cuni.cz/pub/verso.fpl?fname=obd_publikace_handle&handle=Y3n95.O05X" target="_blank" >https://verso.is.cuni.cz/pub/verso.fpl?fname=obd_publikace_handle&handle=Y3n95.O05X</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.3233/AIC-190621" target="_blank" >10.3233/AIC-190621</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Multi-agent path finding on real robots

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

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

J_imp - Článek v periodiku v databázi Web of Science

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/GA19-02183S" target="_blank" >GA19-02183S: Chytré roje: od teorie k praxi</a><br>

Návaznosti

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

Rok uplatnění

2019

Kód důvěrnosti údajů

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

Název periodika

AI Communications

ISSN

0921-7126

e-ISSN

—

Svazek periodika

32

Číslo periodika v rámci svazku

3

Stát vydavatele periodika

NL - Nizozemsko

Počet stran výsledku

15

Strana od-do

175-189

Kód UT WoS článku

000475754800002

EID výsledku v databázi Scopus

2-s2.0-85069207691