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| Main Authors: | , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2409.10680 |
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| _version_ | 1866929501380804608 |
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| author | Janovská, Kristýna Surynek, Pavel |
| author_facet | Janovská, Kristýna Surynek, Pavel |
| contents | We address a variant of multi-agent path finding in continuous environment (CE-MAPF), where agents move along sets of smooth curves. Collisions between agents are resolved via avoidance in the space domain. A new Continuous Environment Conflict-Based Search (CE-CBS) algorithm is proposed in this work. CE-CBS combines conflict-based search (CBS) for the high-level search framework with RRT* for low-level path planning. The CE-CBS algorithm is tested under various settings on diverse CE-MAPF instances. Experimental results show that CE-CBS is competitive w.r.t. to other algorithms that consider continuous aspect in MAPF such as MAPF with continuous time. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2409_10680 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Multi-agent Path Finding in Continuous Environment Janovská, Kristýna Surynek, Pavel Multiagent Systems Artificial Intelligence We address a variant of multi-agent path finding in continuous environment (CE-MAPF), where agents move along sets of smooth curves. Collisions between agents are resolved via avoidance in the space domain. A new Continuous Environment Conflict-Based Search (CE-CBS) algorithm is proposed in this work. CE-CBS combines conflict-based search (CBS) for the high-level search framework with RRT* for low-level path planning. The CE-CBS algorithm is tested under various settings on diverse CE-MAPF instances. Experimental results show that CE-CBS is competitive w.r.t. to other algorithms that consider continuous aspect in MAPF such as MAPF with continuous time. |
| title | Multi-agent Path Finding in Continuous Environment |
| topic | Multiagent Systems Artificial Intelligence |
| url | https://arxiv.org/abs/2409.10680 |