Multi-Goal Multi-Agent Path Finding via Decoupled and Integrated Goal Vertex Ordering

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21240%2F21%3A00350486" target="_blank" >RIV/68407700:21240/21:00350486 - isvavai.cz</a>

Výsledek na webu

<a href="https://ojs.aaai.org/index.php/AAAI/article/view/17472" target="_blank" >https://ojs.aaai.org/index.php/AAAI/article/view/17472</a>

DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

Multi-Goal Multi-Agent Path Finding via Decoupled and Integrated Goal Vertex Ordering

Popis výsledku v původním jazyce

We introduce multi-goal multi agent path finding (MG-MAPF) which generalizes the standard discrete multi-agent path finding (MAPF) problem. While the task in MAPF is to navigate agents in an undirected graph from their starting vertices to one individual goal vertex per agent, MG-MAPF assigns each agent multiple goal vertices and the task is to visit each of them at least once. Solving MG-MAPF not only requires finding collision free paths for individual agents but also determining the order of visiting agent's goal vertices so that common objectives like the sum-of-costs are optimized. We suggest two novel algorithms using different paradigms to address MG-MAPF: a heuristic search-based algorithm called Hamiltonian-CBS (HCBS) and a compilation-based algorithm built using the satisfiability modulo theories (SMT), called SMT-Hamiltonian-CBS (SMT-HCBS).

Název v anglickém jazyce

Multi-Goal Multi-Agent Path Finding via Decoupled and Integrated Goal Vertex Ordering

Popis výsledku anglicky

We introduce multi-goal multi agent path finding (MG-MAPF) which generalizes the standard discrete multi-agent path finding (MAPF) problem. While the task in MAPF is to navigate agents in an undirected graph from their starting vertices to one individual goal vertex per agent, MG-MAPF assigns each agent multiple goal vertices and the task is to visit each of them at least once. Solving MG-MAPF not only requires finding collision free paths for individual agents but also determining the order of visiting agent's goal vertices so that common objectives like the sum-of-costs are optimized. We suggest two novel algorithms using different paradigms to address MG-MAPF: a heuristic search-based algorithm called Hamiltonian-CBS (HCBS) and a compilation-based algorithm built using the satisfiability modulo theories (SMT), called SMT-Hamiltonian-CBS (SMT-HCBS).

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

<a href="/cs/project/GA19-17966S" target="_blank" >GA19-17966S: intALG-MAPFg: Inteligentní algoritmy pro zobecněné varianty multi-agetního hledání cest</a><br>

Návaznosti

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

Rok uplatnění

2021

Kód důvěrnosti údajů

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

Název statě ve sborníku

Proceedings of the Thirty-Fifth AAAI Conference on Artificial Intelligence

ISBN

978-1-57735-866-4

ISSN

2159-5399

e-ISSN

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Počet stran výsledku

9

Strana od-do

12409-12417

Název nakladatele

AAAI Press

Místo vydání

Menlo Park

Místo konání akce

Virtual

Datum konání akce

2. 2. 2021

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000681269804010