TY - GEN
T1 - CGA
T2 - 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024
AU - Pertzovsky, Arseniy
AU - Stern, Roni
AU - Zivan, Roie
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024/1/1
Y1 - 2024/1/1
N2 - In this work, we consider path planning for a team of mobile agents where one agent must reach a given target as soon as possible and the others must accommodate to avoid collisions. We call this practical problem the Single-Agent Corridor Generating (SACG) problem and explore several algorithms for solving it. We propose two baseline algorithms based on existing Multi-Agent Path Finding (MAPF) algorithms and outline their limitations. Then, we present the Corridor Generating Algorithm (CGA), a fast and complete algorithm for solving SACG. CGA performs well compared to the baseline approaches. In addition, we show how CGA can be generalized to address the lifelong version of MAPF, where new goals appear over time.
AB - In this work, we consider path planning for a team of mobile agents where one agent must reach a given target as soon as possible and the others must accommodate to avoid collisions. We call this practical problem the Single-Agent Corridor Generating (SACG) problem and explore several algorithms for solving it. We propose two baseline algorithms based on existing Multi-Agent Path Finding (MAPF) algorithms and outline their limitations. Then, we present the Corridor Generating Algorithm (CGA), a fast and complete algorithm for solving SACG. CGA performs well compared to the baseline approaches. In addition, we show how CGA can be generalized to address the lifelong version of MAPF, where new goals appear over time.
UR - http://www.scopus.com/inward/record.url?scp=85216501485&partnerID=8YFLogxK
U2 - 10.1109/IROS58592.2024.10802519
DO - 10.1109/IROS58592.2024.10802519
M3 - Conference contribution
AN - SCOPUS:85216501485
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3455
EP - 3462
BT - 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024
PB - Institute of Electrical and Electronics Engineers
Y2 - 14 October 2024 through 18 October 2024
ER -