منابع مشابه
Optimal Multi-Agent Pathfinding Algorithms
The multi-agent path finding (MAPF) problem is a generalization of the single-agent path finding problem for k > 1 agents. It consists of a graph and a number of agents. For each agent, a unique start state and a unique goal state are given, and the task is to find paths for all agents from their start states to their goal states, under the constraint that agents cannot collide during their mov...
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This paper proposes a mapping between multi-agent pathfinding (MAPF) and combinatorial auctions (CAs). In MAPF, agents need to reach their goal destinations without colliding. Algorithms for solving MAPF aim at assigning agents non-conflicting paths that minimize agents’ travel costs. In CA problems, agents bid over bundles of items they desire. Auction mechanisms aim at finding an allocation o...
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Several variants of A* have been recently proposed for finding optimal solutions for the multi-agent pathfinding (MAPF) problem. However, these variants have not been deeply compared either quantitatively or qualitatively. In this paper we aim to fill this gap. In addition to obtaining a deeper understanding of the existing algorithms, we describe in detail the application of the new enhanced p...
متن کاملFast and Memory-Efficient Multi-Agent Pathfinding
Multi-agent path planning has been shown to be a PSPACEhard problem. Running a complete search such as A* at the global level is often intractable in practice, since both the number of states and the branching factor grow exponentially as the number of mobile units increases. In addition to the inherent difficulty of the problem, in many real-life applications such as computer games, solutions ...
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Cooperative pathfinding is a problem of finding a set of non-conflicting trajectories for a number of mobile agents. Its applications include planning for teams of mobile robots, such as autonomous aircrafts, cars, or underwater vehicles. The state-of-the-art algorithms for cooperative pathfinding for embodied robots typically rely on some heuristic forward-search pathfinding technique, where A...
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ژورنال
عنوان ژورنال: Proceedings of the AAAI Conference on Artificial Intelligence
سال: 2019
ISSN: 2374-3468,2159-5399
DOI: 10.1609/aaai.v33i01.33017732