Generalizing multi-agent path finding for heterogeneous agents

Dor Atzmon; Yonathan Zax; Einat Kivity; Lidor Avitan; Jonathan Morag; Ariel Felner

Generalizing multi-agent path finding for heterogeneous agents

Dor Atzmon
, Yonathan Zax
, Einat Kivity
, Lidor Avitan
, Jonathan Morag
, Ariel Felner

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

13 Scopus citations

Abstract

Multi-Agent Path Finding (MAPF) is the problem of finding non-colliding paths for multiple agents. The classical problem assumes that all agents are homogeneous, with a fixed size and behavior. However, in reality agents are heterogeneous. In this paper, we generalize MAPF to the case of general, heterogeneous agents (G-MAPF). We then show how two previous settings of large agents and k-robust agents are special cases of G-MAPF. Finally, we introduce G-CBS, a variant of the Conflict-Based Search (CBS) algorithm for GMAPF, which does not cause significant extra overhead.

Original language	English
Title of host publication	Proceedings of the 13th International Symposium on Combinatorial Search, SoCS 2020
Editors	Daniel Harabor, Mauro Vallati
Publisher	The AAAI Press
Pages	101-105
Number of pages	5
ISBN (Electronic)	9781577358220
State	Published - 1 Jan 2020
Event	13th International Symposium on Combinatorial Search, SoCS 2020 - Virtual, Online Duration: 26 May 2020 → 28 May 2020

Publication series

Name	Proceedings of the 13th International Symposium on Combinatorial Search, SoCS 2020

Conference

Conference	13th International Symposium on Combinatorial Search, SoCS 2020
City	Virtual, Online
Period	26/05/20 → 28/05/20

ASJC Scopus subject areas

Computer Networks and Communications

Cite this

Atzmon, D., Zax, Y., Kivity, E., Avitan, L., Morag, J., & Felner, A. (2020). Generalizing multi-agent path finding for heterogeneous agents. In D. Harabor, & M. Vallati (Eds.), Proceedings of the 13th International Symposium on Combinatorial Search, SoCS 2020 (pp. 101-105). (Proceedings of the 13th International Symposium on Combinatorial Search, SoCS 2020). The AAAI Press.

@inproceedings{4cbf08522db94466a43b594753cb2138,

title = "Generalizing multi-agent path finding for heterogeneous agents",

abstract = "Multi-Agent Path Finding (MAPF) is the problem of finding non-colliding paths for multiple agents. The classical problem assumes that all agents are homogeneous, with a fixed size and behavior. However, in reality agents are heterogeneous. In this paper, we generalize MAPF to the case of general, heterogeneous agents (G-MAPF). We then show how two previous settings of large agents and k-robust agents are special cases of G-MAPF. Finally, we introduce G-CBS, a variant of the Conflict-Based Search (CBS) algorithm for GMAPF, which does not cause significant extra overhead.",

author = "Dor Atzmon and Yonathan Zax and Einat Kivity and Lidor Avitan and Jonathan Morag and Ariel Felner",

note = "Publisher Copyright: {\textcopyright} 2020 Proceedings of the 13th International Symposium on Combinatorial Search, SoCS 2020. All rights reserved.; 13th International Symposium on Combinatorial Search, SoCS 2020 ; Conference date: 26-05-2020 Through 28-05-2020",

year = "2020",

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language = "English",

series = "Proceedings of the 13th International Symposium on Combinatorial Search, SoCS 2020",

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Atzmon, D, Zax, Y, Kivity, E, Avitan, L, Morag, J & Felner, A 2020, Generalizing multi-agent path finding for heterogeneous agents. in D Harabor & M Vallati (eds), Proceedings of the 13th International Symposium on Combinatorial Search, SoCS 2020. Proceedings of the 13th International Symposium on Combinatorial Search, SoCS 2020, The AAAI Press, pp. 101-105, 13th International Symposium on Combinatorial Search, SoCS 2020, Virtual, Online, 26/05/20.

Generalizing multi-agent path finding for heterogeneous agents. / Atzmon, Dor; Zax, Yonathan; Kivity, Einat et al.
Proceedings of the 13th International Symposium on Combinatorial Search, SoCS 2020. ed. / Daniel Harabor; Mauro Vallati. The AAAI Press, 2020. p. 101-105 (Proceedings of the 13th International Symposium on Combinatorial Search, SoCS 2020).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Generalizing multi-agent path finding for heterogeneous agents

AU - Atzmon, Dor

AU - Zax, Yonathan

AU - Kivity, Einat

AU - Avitan, Lidor

AU - Morag, Jonathan

AU - Felner, Ariel

PY - 2020/1/1

Y1 - 2020/1/1

N2 - Multi-Agent Path Finding (MAPF) is the problem of finding non-colliding paths for multiple agents. The classical problem assumes that all agents are homogeneous, with a fixed size and behavior. However, in reality agents are heterogeneous. In this paper, we generalize MAPF to the case of general, heterogeneous agents (G-MAPF). We then show how two previous settings of large agents and k-robust agents are special cases of G-MAPF. Finally, we introduce G-CBS, a variant of the Conflict-Based Search (CBS) algorithm for GMAPF, which does not cause significant extra overhead.

AB - Multi-Agent Path Finding (MAPF) is the problem of finding non-colliding paths for multiple agents. The classical problem assumes that all agents are homogeneous, with a fixed size and behavior. However, in reality agents are heterogeneous. In this paper, we generalize MAPF to the case of general, heterogeneous agents (G-MAPF). We then show how two previous settings of large agents and k-robust agents are special cases of G-MAPF. Finally, we introduce G-CBS, a variant of the Conflict-Based Search (CBS) algorithm for GMAPF, which does not cause significant extra overhead.

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M3 - Conference contribution

AN - SCOPUS:85102191194

T3 - Proceedings of the 13th International Symposium on Combinatorial Search, SoCS 2020

SP - 101

EP - 105

BT - Proceedings of the 13th International Symposium on Combinatorial Search, SoCS 2020

A2 - Harabor, Daniel

A2 - Vallati, Mauro

PB - The AAAI Press

T2 - 13th International Symposium on Combinatorial Search, SoCS 2020

Y2 - 26 May 2020 through 28 May 2020

ER -

Generalizing multi-agent path finding for heterogeneous agents

Abstract

Publication series

Conference

ASJC Scopus subject areas

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