Contingent Planning for Robust Multi-Agent Path Finding.

Michal Nekvinda, Roman Barták, Meir Kalech

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


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.
Original languageEnglish
Title of host publicationSOCS
Number of pages3
StatePublished - 2021


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