Online Multi-Agent Pathfinding
DOI:
https://doi.org/10.1609/aaai.v33i01.33017732Abstract
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.
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Published
2019-07-17
How to Cite
Švancara, J., Vlk, M., Stern, R., Atzmon, D., & Barták, R. (2019). Online Multi-Agent Pathfinding. Proceedings of the AAAI Conference on Artificial Intelligence, 33(01), 7732-7739. https://doi.org/10.1609/aaai.v33i01.33017732
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Section
AAAI Technical Track: Planning, Routing, and Scheduling