Multi-Agent Pathfinding for Indoor Quadcopters: A Platform for Testing Planning-Acting Loop

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21240%2F23%3A00371967" target="_blank" >RIV/68407700:21240/23:00371967 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.5220/0012188200003543" target="_blank" >https://doi.org/10.5220/0012188200003543</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.5220/0012188200003543" target="_blank" >10.5220/0012188200003543</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Multi-Agent Pathfinding for Indoor Quadcopters: A Platform for Testing Planning-Acting Loop

Popis výsledku v původním jazyce

We study the planning-acting loop for multi-agent path finding with continuous time (MAPF R ). The standard MAPF is a problem of navigating agents from their start positions to specified individual goal positions so that agents do not collide with each other. The standard MAPF takes place in a discrete graph with agents located in its vertices and instantaneous moves of agents across edges. MAPFR adds continuous elements to MAPF via allowing agents to wait in a vertex for arbitrary length of time to avoid the collision. We focus in this paper on executing MAPFR plans with a group of Crazyflies, small indoor quadcopters. We show how to modify the existing continuous-time conflict-based search algorithm (CCBS) for MAPF R to produce plans that are suitable for execution with the quadcopters. Our platform can be used for testing suitability of variants of MAPF for execution with real agents. Our finding is that the MAPF variant with continuous time and the related CCBS algorithm allows f or extensions that can produce safe plans for quadcopters, namely cylindrical protection zone around each quadcopter can be introduced at the planning level.

Název v anglickém jazyce

Multi-Agent Pathfinding for Indoor Quadcopters: A Platform for Testing Planning-Acting Loop

Popis výsledku anglicky

We study the planning-acting loop for multi-agent path finding with continuous time (MAPF R ). The standard MAPF is a problem of navigating agents from their start positions to specified individual goal positions so that agents do not collide with each other. The standard MAPF takes place in a discrete graph with agents located in its vertices and instantaneous moves of agents across edges. MAPFR adds continuous elements to MAPF via allowing agents to wait in a vertex for arbitrary length of time to avoid the collision. We focus in this paper on executing MAPFR plans with a group of Crazyflies, small indoor quadcopters. We show how to modify the existing continuous-time conflict-based search algorithm (CCBS) for MAPF R to produce plans that are suitable for execution with the quadcopters. Our platform can be used for testing suitability of variants of MAPF for execution with real agents. Our finding is that the MAPF variant with continuous time and the related CCBS algorithm allows f or extensions that can produce safe plans for quadcopters, namely cylindrical protection zone around each quadcopter can be introduced at the planning level.

Druh

D - Stať ve sborníku

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/GA22-31346S" target="_blank" >GA22-31346S: logicMOVE: Logické uvažování v plánování pohybu pro mnoho robotických agentů</a><br>

Návaznosti

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

Rok uplatnění

2023

Kód důvěrnosti údajů

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

Název statě ve sborníku

Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics

ISBN

978-989-758-670-5

ISSN

2184-2809

e-ISSN

—

Počet stran výsledku

8

Strana od-do

221-228

Název nakladatele

SciTePress

Místo vydání

Madeira

Místo konání akce

Rome

Datum konání akce

13. 11. 2023

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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