Offline Time-Independent Multiagent Path Planning

This study examines a novel planning problem for multiple agents that cannot share holding resources, named Offline Time-Independent Multiagent Path Planning (OTIMAPP) . Given graph and set of start-goal pairs, the to be addressed is assigning path each agent, such every agent eventually reaches its destination without blocking others, regardless when starts finishes own action. motivation stems from timing uncertainties, including reality gaps between robot execution. In contrast conventional solution, concepts multirobot rely on timings, once OTIMAPP solutions are obtained, they can executed any synchronization actions. Moreover, there theoretical guarantee all robots reach their destinations, provided avoid interrobot collisions. attempts establish both theoretically practically. Specifically, we present formalization problem, solution conditions based categorization deadlocks, computational complexities showing computationally intractable, practical relaxation concept, two algorithms solve multiagent pathfinding algorithms, empirical results large instances solved some extent, as well demonstrations asynchronous