From Space-Time to Space-Order: Directly Planning a Temporal Planning Graph by Redefining CBS
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arXiv
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| Auteurs principaux: | , , , |
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| Format: | Preprint |
| Publié: |
2024
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| _version_ | 1866929325614301184 |
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| author | Wu, Yu Veerapaneni, Rishi Li, Jiaoyang Likhachev, Maxim |
| author_facet | Wu, Yu Veerapaneni, Rishi Li, Jiaoyang Likhachev, Maxim |
| contents | The majority of multi-agent path finding (MAPF) methods compute collision-free space-time paths which require agents to be at a specific location at a specific discretized timestep. However, executing these space-time paths directly on robotic systems is infeasible due to real-time execution differences (e.g. delays) which can lead to collisions. To combat this, current methods translate the space-time paths into a temporal plan graph (TPG) that only requires that agents observe the order in which they navigate through locations where their paths cross. However, planning space-time paths and then post-processing them into a TPG does not reduce the required agent-to-agent coordination, which is fixed once the space-time paths are computed. To that end, we propose a novel algorithm Space-Order CBS that can directly plan a TPG and explicitly minimize coordination. Our main theoretical insight is our novel perspective on viewing a TPG as a set of space-visitation order paths where agents visit locations in relative orders (e.g. 1st vs 2nd) as opposed to specific timesteps. We redefine unique conflicts and constraints for adapting CBS for space-order planning. We experimentally validate how Space-Order CBS can return TPGs which significantly reduce coordination, thus subsequently reducing the amount of agent-agent communication and leading to more robustness to delays during execution. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2404_15137 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | From Space-Time to Space-Order: Directly Planning a Temporal Planning Graph by Redefining CBS Wu, Yu Veerapaneni, Rishi Li, Jiaoyang Likhachev, Maxim Multiagent Systems Robotics The majority of multi-agent path finding (MAPF) methods compute collision-free space-time paths which require agents to be at a specific location at a specific discretized timestep. However, executing these space-time paths directly on robotic systems is infeasible due to real-time execution differences (e.g. delays) which can lead to collisions. To combat this, current methods translate the space-time paths into a temporal plan graph (TPG) that only requires that agents observe the order in which they navigate through locations where their paths cross. However, planning space-time paths and then post-processing them into a TPG does not reduce the required agent-to-agent coordination, which is fixed once the space-time paths are computed. To that end, we propose a novel algorithm Space-Order CBS that can directly plan a TPG and explicitly minimize coordination. Our main theoretical insight is our novel perspective on viewing a TPG as a set of space-visitation order paths where agents visit locations in relative orders (e.g. 1st vs 2nd) as opposed to specific timesteps. We redefine unique conflicts and constraints for adapting CBS for space-order planning. We experimentally validate how Space-Order CBS can return TPGs which significantly reduce coordination, thus subsequently reducing the amount of agent-agent communication and leading to more robustness to delays during execution. |
| title | From Space-Time to Space-Order: Directly Planning a Temporal Planning Graph by Redefining CBS |
| topic | Multiagent Systems Robotics |
| url | https://arxiv.org/abs/2404.15137 |