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Home / Proceedings / Proceedings of the International Conference on Automated Planning and Scheduling, 31 / Book One

A Competitive Analysis of Online Multi-Agent Path Finding

February 1, 2023

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Authors

Hang Ma

Simon Fraser University


DOI:

10.1609/icaps.v31i1.15967


Abstract:

We study online Multi-Agent Path Finding (MAPF), where new agents are constantly revealed over time and all agents must find collision-free paths to their given goal locations. We generalize existing complexity results of (offline) MAPF to online MAPF. We classify online MAPF algorithms into different categories based on (1) controllability (the set of agents that they can plan paths for at each time) and (2) rationality (the quality of paths they plan) and study the relationships between them. We perform a competitive analysis for each category of online MAPF algorithms with respect to commonly-used objective functions. We show that a naive algorithm that routes newly-revealed agents one at a time in sequence achieves a competitive ratio that is asymptotically bounded from both below and above by the number of agents with respect to flowtime and makespan. We then show a counter-intuitive result that, if rerouting of previously-revealed agents is not allowed, any rational online MAPF algorithms, including ones that plan optimal paths for all newly-revealed agents, have the same asymptotic competitive ratio as the naive algorithm, even on 2D 4-neighbor grids. We also derive constant lower bounds on the competitive ratio of any rational online MAPF algorithms that allow rerouting. The results thus provide theoretical insights into the effectiveness of using MAPF algorithms in an online setting for the first time.

Topics: ICAPS

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HOW TO CITE:

Hang Ma A Competitive Analysis of Online Multi-Agent Path Finding Proceedings of the International Conference on Automated Planning and Scheduling, 31 (2021) 234-242.

Hang Ma A Competitive Analysis of Online Multi-Agent Path Finding ICAPS 2021, 234-242.

Hang Ma (2021). A Competitive Analysis of Online Multi-Agent Path Finding. Proceedings of the International Conference on Automated Planning and Scheduling, 31, 234-242.

Hang Ma. A Competitive Analysis of Online Multi-Agent Path Finding. Proceedings of the International Conference on Automated Planning and Scheduling, 31 2021 p.234-242.

Hang Ma. 2021. A Competitive Analysis of Online Multi-Agent Path Finding. "Proceedings of the International Conference on Automated Planning and Scheduling, 31". 234-242.

Hang Ma. (2021) "A Competitive Analysis of Online Multi-Agent Path Finding", Proceedings of the International Conference on Automated Planning and Scheduling, 31, p.234-242

Hang Ma, "A Competitive Analysis of Online Multi-Agent Path Finding", ICAPS, p.234-242, 2021.

Hang Ma. "A Competitive Analysis of Online Multi-Agent Path Finding". Proceedings of the International Conference on Automated Planning and Scheduling, 31, 2021, p.234-242.

Hang Ma. "A Competitive Analysis of Online Multi-Agent Path Finding". Proceedings of the International Conference on Automated Planning and Scheduling, 31, (2021): 234-242.

Hang Ma. A Competitive Analysis of Online Multi-Agent Path Finding. ICAPS[Internet]. 2021[cited 2023]; 234-242.


ISSN: 2334-0843


Published by AAAI Press, Palo Alto, California USA
Copyright 2022, Association for the Advancement of
Artificial Intelligence 1900 Embarcadero Road, Suite
101, Palo Alto, California 94303 All Rights Reserved

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