Generalizing multi-agent path finding for heterogeneous agents

Dor Atzmon; Yonathan Zax; Einat Kivity; Lidor Avitan; Jonathan Morag; Ariel Felner

Generalizing multi-agent path finding for heterogeneous agents

Dor Atzmon, Yonathan Zax, Einat Kivity, Lidor Avitan, Jonathan Morag, Ariel Felner

Ben-Gurion University of the Negev

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

6 Scopus citations

Abstract

Multi-Agent Path Finding (MAPF) is the problem of finding non-colliding paths for multiple agents. The classical problem assumes that all agents are homogeneous, with a fixed size and behavior. However, in reality agents are heterogeneous. In this paper, we generalize MAPF to the case of general, heterogeneous agents (G-MAPF). We then show how two previous settings of large agents and k-robust agents are special cases of G-MAPF. Finally, we introduce G-CBS, a variant of the Conflict-Based Search (CBS) algorithm for GMAPF, which does not cause significant extra overhead.

Original language	English
Title of host publication	Proceedings of the 13th International Symposium on Combinatorial Search, SoCS 2020
Editors	Daniel Harabor, Mauro Vallati
Publisher	The AAAI Press
Pages	101-105
Number of pages	5
ISBN (Electronic)	9781577358220
State	Published - 2020
Externally published	Yes
Event	13th International Symposium on Combinatorial Search, SoCS 2020 - Virtual, Online Duration: 26 May 2020 → 28 May 2020

Publication series

Name	Proceedings of the 13th International Symposium on Combinatorial Search, SoCS 2020

Conference

Conference	13th International Symposium on Combinatorial Search, SoCS 2020
City	Virtual, Online
Period	26/05/20 → 28/05/20

Bibliographical note

Publisher Copyright:
© 2020 Proceedings of the 13th International Symposium on Combinatorial Search, SoCS 2020. All rights reserved.

Funding

This research was supported by the Israel Science Foundation (ISF) under grant number 844/17 and by the United States-Israel Binational Science Foundation (BSF) under grant number 2017692.

Funders	Funder number
United States-Israel Binational Science Foundation	2017692
Israel Science Foundation	844/17

Cite this

Atzmon, D., Zax, Y., Kivity, E., Avitan, L., Morag, J., & Felner, A. (2020). Generalizing multi-agent path finding for heterogeneous agents. In D. Harabor, & M. Vallati (Eds.), Proceedings of the 13th International Symposium on Combinatorial Search, SoCS 2020 (pp. 101-105). (Proceedings of the 13th International Symposium on Combinatorial Search, SoCS 2020). The AAAI Press.

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title = "Generalizing multi-agent path finding for heterogeneous agents",

abstract = "Multi-Agent Path Finding (MAPF) is the problem of finding non-colliding paths for multiple agents. The classical problem assumes that all agents are homogeneous, with a fixed size and behavior. However, in reality agents are heterogeneous. In this paper, we generalize MAPF to the case of general, heterogeneous agents (G-MAPF). We then show how two previous settings of large agents and k-robust agents are special cases of G-MAPF. Finally, we introduce G-CBS, a variant of the Conflict-Based Search (CBS) algorithm for GMAPF, which does not cause significant extra overhead.",

author = "Dor Atzmon and Yonathan Zax and Einat Kivity and Lidor Avitan and Jonathan Morag and Ariel Felner",

note = "Publisher Copyright: {\textcopyright} 2020 Proceedings of the 13th International Symposium on Combinatorial Search, SoCS 2020. All rights reserved.; 13th International Symposium on Combinatorial Search, SoCS 2020 ; Conference date: 26-05-2020 Through 28-05-2020",

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series = "Proceedings of the 13th International Symposium on Combinatorial Search, SoCS 2020",

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Atzmon, D, Zax, Y, Kivity, E, Avitan, L, Morag, J & Felner, A 2020, Generalizing multi-agent path finding for heterogeneous agents. in D Harabor & M Vallati (eds), Proceedings of the 13th International Symposium on Combinatorial Search, SoCS 2020. Proceedings of the 13th International Symposium on Combinatorial Search, SoCS 2020, The AAAI Press, pp. 101-105, 13th International Symposium on Combinatorial Search, SoCS 2020, Virtual, Online, 26/05/20.

Generalizing multi-agent path finding for heterogeneous agents. / Atzmon, Dor; Zax, Yonathan; Kivity, Einat et al.
Proceedings of the 13th International Symposium on Combinatorial Search, SoCS 2020. ed. / Daniel Harabor; Mauro Vallati. The AAAI Press, 2020. p. 101-105 (Proceedings of the 13th International Symposium on Combinatorial Search, SoCS 2020).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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Generalizing multi-agent path finding for heterogeneous agents

Abstract

Publication series

Conference

Bibliographical note

Funding

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