Multi Agent Pathfinding for Noise Restricted Hybrid Fuel Unmanned Aerial Vehicles
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arXiv
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| Auteurs principaux: | , , , , |
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| Format: | Preprint |
| Publié: |
2024
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| _version_ | 1866910384566304768 |
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| author | Scott, Drew Manyam, Satyanarayana G. Casbeer, David W. Kumar, Manish Weintraub, Isaac E. |
| author_facet | Scott, Drew Manyam, Satyanarayana G. Casbeer, David W. Kumar, Manish Weintraub, Isaac E. |
| contents | Multi Agent Path Finding (MAPF) seeks the optimal set of paths for multiple agents from respective start to goal locations such that no paths conflict. We address the MAPF problem for a fleet of hybrid-fuel unmanned aerial vehicles which are subject to location-dependent noise restrictions. We solve this problem by searching a constraint tree for which the subproblem at each node is a set of shortest path problems subject to the noise and fuel constraints and conflict zone avoidance. A labeling algorithm is presented to solve this subproblem, including the conflict zones which are treated as dynamic obstacles. We present the experimental results of the algorithms for various graph sizes and number of agents. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_17849 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Multi Agent Pathfinding for Noise Restricted Hybrid Fuel Unmanned Aerial Vehicles Scott, Drew Manyam, Satyanarayana G. Casbeer, David W. Kumar, Manish Weintraub, Isaac E. Optimization and Control Robotics Multi Agent Path Finding (MAPF) seeks the optimal set of paths for multiple agents from respective start to goal locations such that no paths conflict. We address the MAPF problem for a fleet of hybrid-fuel unmanned aerial vehicles which are subject to location-dependent noise restrictions. We solve this problem by searching a constraint tree for which the subproblem at each node is a set of shortest path problems subject to the noise and fuel constraints and conflict zone avoidance. A labeling algorithm is presented to solve this subproblem, including the conflict zones which are treated as dynamic obstacles. We present the experimental results of the algorithms for various graph sizes and number of agents. |
| title | Multi Agent Pathfinding for Noise Restricted Hybrid Fuel Unmanned Aerial Vehicles |
| topic | Optimization and Control Robotics |
| url | https://arxiv.org/abs/2403.17849 |