Online multi-agent pathfinding

Jirí Švancara, Marek Vlk, Roni Stern, Dor Atzmon, Roman Barták

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

49 Scopus citations

Abstract

Multi-agent pathfinding (MAPF) is the problem of moving a group of agents to a set of target destinations while avoiding collisions. In this work, we study the online version of MAPF where new agents appear over time. Several variants of online MAPF are defined and analyzed theoretically, showing that it is not possible to create an optimal online MAPF solver. Nevertheless, we propose effective online MAPF algorithms that balance solution quality, runtime, and the number of plan changes an agent makes during execution.

Original languageEnglish
Title of host publication33rd AAAI Conference on Artificial Intelligence, AAAI 2019, 31st Innovative Applications of Artificial Intelligence Conference, IAAI 2019 and the 9th AAAI Symposium on Educational Advances in Artificial Intelligence, EAAI 2019
PublisherAAAI press
Pages7732-7739
Number of pages8
ISBN (Electronic)9781577358091
StatePublished - 2019
Externally publishedYes
Event33rd AAAI Conference on Artificial Intelligence, AAAI 2019, 31st Annual Conference on Innovative Applications of Artificial Intelligence, IAAI 2019 and the 9th AAAI Symposium on Educational Advances in Artificial Intelligence, EAAI 2019 - Honolulu, United States
Duration: 27 Jan 20191 Feb 2019

Publication series

Name33rd AAAI Conference on Artificial Intelligence, AAAI 2019, 31st Innovative Applications of Artificial Intelligence Conference, IAAI 2019 and the 9th AAAI Symposium on Educational Advances in Artificial Intelligence, EAAI 2019

Conference

Conference33rd AAAI Conference on Artificial Intelligence, AAAI 2019, 31st Annual Conference on Innovative Applications of Artificial Intelligence, IAAI 2019 and the 9th AAAI Symposium on Educational Advances in Artificial Intelligence, EAAI 2019
Country/TerritoryUnited States
CityHonolulu
Period27/01/191/02/19

Bibliographical note

Publisher Copyright:
© 2019, Association for the Advancement of Artificial Intelligence (www.aaai.org). All rights reserved.

Funding

This research is supported by the Czech-Israeli Cooperative Scientific Research Project 8G15027, by SVV project number 260 453, by the EU and the Ministry of Industry and Trade of the Czech Republic under the Project OP PIK CZ.01.1.02/0.0/0.0/15 019/0004688, and by ISF grant no. 210/17 to Roni Stern. Roman Barták is supported by the Czech Science Foundation project 18-07252S.

FundersFunder number
SVV260 453
European Commission
Grantová Agentura České Republiky18-07252S
Israel Science Foundation210/17
Ministerstvo Průmyslu a ObchoduOP PIK CZ.01.1.02/0.0/0.0/15 019/0004688

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