Robust Multi-Agent Path Finding and Executing

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216208%3A11320%2F20%3A10424777" target="_blank" >RIV/00216208:11320/20:10424777 - isvavai.cz</a>

Výsledek na webu

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

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1613/jair.1.11734" target="_blank" >10.1613/jair.1.11734</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Robust Multi-Agent Path Finding and Executing

Popis výsledku v původním jazyce

Multi-agent path-finding (MAPF) is the problem of finding a plan for moving a set of agents from their initial locations to their goals without collisions. Following this plan, however, may not be possible due to unexpected events that delay some of the agents. In this work, we propose a holistic solution for MAPF that is robust to such unexpected delays. First, we introduce the notion of a k-robust MAPF plan, which is a plan that can be executed even if a limited number (k) of delays occur. We propose sufficient and required conditions for finding a k-robust plan, and show how to convert several MAPF solvers to find such plans. Then, we propose several robust execution policies. An execution policy is a policy for agents executing a MAPF plan. An execution policy is robust if following it guarantees that the agents reach their goals even if they encounter unexpected delays. Several classes of such robust execution policies are proposed and evaluated experimentally. Finally, we present robust execution policies for cases where communication between the agents may also be delayed. We performed an extensive experimental evaluation in which we compared different algorithms for finding robust MAPF plans, compared different robust execution policies, and studied the interplay between having a robust plan and the performance when using a robust execution policy.

Název v anglickém jazyce

Robust Multi-Agent Path Finding and Executing

Popis výsledku anglicky

Multi-agent path-finding (MAPF) is the problem of finding a plan for moving a set of agents from their initial locations to their goals without collisions. Following this plan, however, may not be possible due to unexpected events that delay some of the agents. In this work, we propose a holistic solution for MAPF that is robust to such unexpected delays. First, we introduce the notion of a k-robust MAPF plan, which is a plan that can be executed even if a limited number (k) of delays occur. We propose sufficient and required conditions for finding a k-robust plan, and show how to convert several MAPF solvers to find such plans. Then, we propose several robust execution policies. An execution policy is a policy for agents executing a MAPF plan. An execution policy is robust if following it guarantees that the agents reach their goals even if they encounter unexpected delays. Several classes of such robust execution policies are proposed and evaluated experimentally. Finally, we present robust execution policies for cases where communication between the agents may also be delayed. We performed an extensive experimental evaluation in which we compared different algorithms for finding robust MAPF plans, compared different robust execution policies, and studied the interplay between having a robust plan and the performance when using a robust execution policy.

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

2020

Kód důvěrnosti údajů

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

Název periodika

Journal of Artificial Intelligence Research

ISSN

1076-9757

e-ISSN

—

Svazek periodika

67

Číslo periodika v rámci svazku

březen

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

31

Strana od-do

549-579

Kód UT WoS článku

000528198400016

EID výsledku v databázi Scopus

2-s2.0-85090556103