Finding Coordinated Paths for Multiple Holonomic Agents in 2-D Polygonal Environment

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F14%3A00217978" target="_blank" >RIV/68407700:21230/14:00217978 - isvavai.cz</a>

Výsledek na webu

<a href="http://aamas2014.lip6.fr/proceedings/aamas/p1117.pdf" target="_blank" >http://aamas2014.lip6.fr/proceedings/aamas/p1117.pdf</a>

DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

Finding Coordinated Paths for Multiple Holonomic Agents in 2-D Polygonal Environment

Popis výsledku v původním jazyce

Avoiding collisions is one of the vital tasks for systems of au- tonomous mobile agents. We focus on the problem of find- ing continuous coordinated paths for multiple mobile disc agents in a 2-d environment with polygonal obstacles. The problem is PSPACE-hard, with the state space growing ex- ponentially in the number of agents. Therefore, the state of the art methods include mainly reactive techniques and sampling-based iterative algorithms. We compare the performance of a widely-used reactive methodORCA with three variants of a popular planning algorithm RRT* applied to multi-agent path planning and find that an algorithm combining reactive collision avoid- ance and RRT* planning, which we call ORCA-RRT* can be used to solve instances that are outof the reach of ei- ther of the techniques. We experimentally show that: 1) the reactive part of the algorithm can efficiently solve many multi-agent path finding problems involving large number of agents, for which RRT* algorithm is ofte

Název v anglickém jazyce

Finding Coordinated Paths for Multiple Holonomic Agents in 2-D Polygonal Environment

Popis výsledku anglicky

Avoiding collisions is one of the vital tasks for systems of au- tonomous mobile agents. We focus on the problem of find- ing continuous coordinated paths for multiple mobile disc agents in a 2-d environment with polygonal obstacles. The problem is PSPACE-hard, with the state space growing ex- ponentially in the number of agents. Therefore, the state of the art methods include mainly reactive techniques and sampling-based iterative algorithms. We compare the performance of a widely-used reactive methodORCA with three variants of a popular planning algorithm RRT* applied to multi-agent path planning and find that an algorithm combining reactive collision avoid- ance and RRT* planning, which we call ORCA-RRT* can be used to solve instances that are outof the reach of ei- ther of the techniques. We experimentally show that: 1) the reactive part of the algorithm can efficiently solve many multi-agent path finding problems involving large number of agents, for which RRT* algorithm is ofte

Druh

D - Stať ve sborníku

CEP obor

IN - Informatika

OECD FORD obor

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Projekt

<a href="/cs/project/LD12044" target="_blank" >LD12044: Agentní algoritmy pro autonomní podpůrné systémy v pozemní dopravě</a><br>

Návaznosti

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

Rok uplatnění

2014

Kód důvěrnosti údajů

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

Název statě ve sborníku

Proceedings of the 13th International Conference on Autonomous Agents and Multiagent Systems

ISBN

978-1-4503-2738-1

ISSN

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e-ISSN

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Počet stran výsledku

7

Strana od-do

1117-1123

Název nakladatele

IFAAMAS

Místo vydání

County of Richland

Místo konání akce

Paris

Datum konání akce

5. 5. 2014

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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