Moving agents in formation in congested environments

Jiaoyang Li, Kexuan Sun, Hang Ma, Ariel Felner, T. K.Satish Kumar, Sven Koenig

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

1 Scopus citations

Abstract

We study the Moving Agents in Formation problem, that combines the tasks of finding short collision-free paths for multiple agents and keeping them in close adherence to a desired formation. We develop a two-phase complete algorithm, called SWARM-MAPF, whose first phase is inspired by swarm-based algorithms (in open regions) and whose second phase is inspired by multi-agent path finding algorithms (in congested regions). Empirically, we show that SWARMMAPF scales well and finds close-to-optimal solutions.

Original languageEnglish
Title of host publicationProceedings of the 13th International Symposium on Combinatorial Search, SoCS 2020
EditorsDaniel Harabor, Mauro Vallati
PublisherThe AAAI Press
Pages131-132
Number of pages2
ISBN (Electronic)9781577358220
StatePublished - 1 Jan 2020
Event13th International Symposium on Combinatorial Search, SoCS 2020 - Virtual, Online
Duration: 26 May 202028 May 2020

Publication series

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

Conference

Conference13th International Symposium on Combinatorial Search, SoCS 2020
CityVirtual, Online
Period26/05/2028/05/20

ASJC Scopus subject areas

  • Computer Networks and Communications

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