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 proceedingConference contributionpeer-review

1 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 languageEnglish
Title of host publicationProceedings of the 13th International Symposium on Combinatorial Search, SoCS 2020
EditorsDaniel Harabor, Mauro Vallati
PublisherThe AAAI Press
Pages131-132
Number of pages2
ISBN (Electronic)9781577358220
StatePublished - 2020
Externally publishedYes
Event13th International Symposium on Combinatorial Search, SoCS 2020 - Virtual, Online
Duration: 26 May 202028 May 2020

Publication series

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

Conference

Conference13th International Symposium on Combinatorial Search, SoCS 2020
CityVirtual, Online
Period26/05/2028/05/20

Bibliographical note

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

Fingerprint

Dive into the research topics of 'Moving agents in formation in congested environments'. Together they form a unique fingerprint.

Cite this