TY - GEN
T1 - Contingent Planning for Robust Multi-Agent Path Finding
AU - Nekvinda, Michal
AU - Barták, Roman
AU - Kalech, Meir
N1 - Funding Information:
Research is supported by the project P103-19-02183S of the Czech Science Foundation and the project LTAIZ19014 of Czech Ministry of Education, Youth, and Sports.
Publisher Copyright:
Copyright © 2021, Association for the Advancement of Artificial Intelligence (www.aaai.org). All rights reserved.
PY - 2021/7/21
Y1 - 2021/7/21
N2 - A classical approach to Multi-agent Path Finding assumes an offline construction of collision-free paths that the agents blindly follow during execution. k-robust plans can be executed without collisions even if an agent is delayed for at most k steps. In the paper, we propose a novel concept of robustness that uses alternative paths to which the agents are diverted in case of delay. Such plans can be found with much higher chances than k-robust plans.
AB - A classical approach to Multi-agent Path Finding assumes an offline construction of collision-free paths that the agents blindly follow during execution. k-robust plans can be executed without collisions even if an agent is delayed for at most k steps. In the paper, we propose a novel concept of robustness that uses alternative paths to which the agents are diverted in case of delay. Such plans can be found with much higher chances than k-robust plans.
UR - http://www.scopus.com/inward/record.url?scp=85124600127&partnerID=8YFLogxK
U2 - 10.1609/socs.v12i1.18578
DO - 10.1609/socs.v12i1.18578
M3 - Conference contribution
VL - 12
T3 - 14th International Symposium on Combinatorial Search, SoCS 2021
SP - 185
EP - 187
BT - Fourteenth International Symposium on Combinatorial Search
A2 - Ma, Hang
A2 - Serina, Ivan
PB - Association for the Advancement of Artificial Intelligence
T2 - 14th International Symposium on Combinatorial Search, SoCS 2021
Y2 - 26 July 2021 through 30 July 2021
ER -