Moving agents in formation in congested environments

Jiaoyang Li; Kexuan Sun; Hang Ma; Ariel Felner; T. K.Satish Kumar; Sven Koenig

Moving agents in formation in congested environments

Jiaoyang Li, Kexuan Sun, Hang Ma, Ariel Felner, T. K.Satish Kumar, Sven Koenig

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

5 Scopus citations

Abstract

We study the Moving Agents in Formation problem, that combines the tasks of finding short collision-free paths for multiple agents and keeping them in close adherence to a desired formation. We develop a two-phase complete algorithm, called SWARM-MAPF, whose first phase is inspired by swarm-based algorithms (in open regions) and whose second phase is inspired by multi-agent path finding algorithms (in congested regions). Empirically, we show that SWARMMAPF scales well and finds close-to-optimal solutions.

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	131-132
Number of pages	2
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 paper is a short verion of (Li et al. 2020). The research at the University of Southern California was supported by the National Science Foundation (NSF) under grant numbers 1409987, 1724392, 1817189, and 1837779 as well as a gift from Amazon. The research was also supported by the United States-Israel Binational Science Foundation (BSF) under grant number 2017692. Copyright ©c 2020, Association for the Advancement of Artificial Intelligence (www.aaai.org). All rights reserved.

Funders	Funder number
National Science Foundation
United States-Israel Binational Science Foundation
National Science Foundation	1724392, 1409987, 1837779, 1817189
Bonfils-Stanton Foundation	2017692

Cite this

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title = "Moving agents in formation in congested environments",

abstract = "We study the Moving Agents in Formation problem, that combines the tasks of finding short collision-free paths for multiple agents and keeping them in close adherence to a desired formation. We develop a two-phase complete algorithm, called SWARM-MAPF, whose first phase is inspired by swarm-based algorithms (in open regions) and whose second phase is inspired by multi-agent path finding algorithms (in congested regions). Empirically, we show that SWARMMAPF scales well and finds close-to-optimal solutions.",

author = "Jiaoyang Li and Kexuan Sun and Hang Ma and Ariel Felner and Kumar, {T. K.Satish} and Sven Koenig",

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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Li, J, Sun, K, Ma, H, Felner, A, Kumar, TKS & Koenig, S 2020, Moving agents in formation in congested environments. 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. 131-132, 13th International Symposium on Combinatorial Search, SoCS 2020, Virtual, Online, 26/05/20.

Moving agents in formation in congested environments. / Li, Jiaoyang; Sun, Kexuan; Ma, Hang et al.
Proceedings of the 13th International Symposium on Combinatorial Search, SoCS 2020. ed. / Daniel Harabor; Mauro Vallati. The AAAI Press, 2020. p. 131-132 (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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Moving agents in formation in congested environments

Abstract

Publication series

Conference

Bibliographical note

Funding

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