Multi-Agent Corridor Generating Algorithm
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arXiv
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| Auteurs principaux: | , , , |
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| Format: | Preprint |
| Publié: |
2024
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| _version_ | 1866910960561684480 |
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| author | Pertzovsky, Arseniy Stern, Roni Zivan, Roie Felner, Ariel |
| author_facet | Pertzovsky, Arseniy Stern, Roni Zivan, Roie Felner, Ariel |
| contents | In this paper, we propose the Multi-Agent Corridor Generating Algorithm (MACGA) for solving the Multi-agent Pathfinding (MAPF) problem, where a group of agents need to find non-colliding paths to their target locations. Existing approaches struggle to solve dense MAPF instances. In MACGA, the agents build \emph{corridors}, which are sequences of connected vertices, from current locations towards agents' goals, and evacuate other agents out of the corridors to avoid collisions and deadlocks. We also present the MACGA+PIBT algorithm, which integrates the well-known rule-based PIBT algorithm into MACGA to improve runtime and solution quality. The proposed algorithms run in polynomial time and have a reachability property, i.e., every agent is guaranteed to reach its goal location at some point. We demonstrate experimentally that MACGA and MACGA+PIBT outperform baseline algorithms in terms of success rate, runtime, and makespan across diverse MAPF benchmark grids. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2410_12397 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Multi-Agent Corridor Generating Algorithm Pertzovsky, Arseniy Stern, Roni Zivan, Roie Felner, Ariel Multiagent Systems In this paper, we propose the Multi-Agent Corridor Generating Algorithm (MACGA) for solving the Multi-agent Pathfinding (MAPF) problem, where a group of agents need to find non-colliding paths to their target locations. Existing approaches struggle to solve dense MAPF instances. In MACGA, the agents build \emph{corridors}, which are sequences of connected vertices, from current locations towards agents' goals, and evacuate other agents out of the corridors to avoid collisions and deadlocks. We also present the MACGA+PIBT algorithm, which integrates the well-known rule-based PIBT algorithm into MACGA to improve runtime and solution quality. The proposed algorithms run in polynomial time and have a reachability property, i.e., every agent is guaranteed to reach its goal location at some point. We demonstrate experimentally that MACGA and MACGA+PIBT outperform baseline algorithms in terms of success rate, runtime, and makespan across diverse MAPF benchmark grids. |
| title | Multi-Agent Corridor Generating Algorithm |
| topic | Multiagent Systems |
| url | https://arxiv.org/abs/2410.12397 |