@inproceedings{d4bd44f19eb94522ba9f2f78973719ea,
title = "Moving agents in formation in congested environments",
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.",
author = "Jiaoyang Li and Kexuan Sun and Hang Ma and Ariel Felner and Kumar, {T. K.Satish} and Sven Koenig",
note = "Funding Information: ∗This paper is a short verion of (Li et al. 2020). The research at the University of Southern California was supported by the National Science Foundation (NSF) under grant numbers 1409987, 1724392, 1817189, and 1837779 as well as a gift from Amazon. The research was also supported by the United States-Israel Binational Science Foundation (BSF) under grant number 2017692. Copyright {\textcopyright}c 2020, Association for the Advancement of Artificial Intelligence (www.aaai.org). All rights reserved. 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",
month = jan,
day = "1",
language = "English",
series = "Proceedings of the 13th International Symposium on Combinatorial Search, SoCS 2020",
publisher = "The AAAI Press",
pages = "131--132",
editor = "Daniel Harabor and Mauro Vallati",
booktitle = "Proceedings of the 13th International Symposium on Combinatorial Search, SoCS 2020",
}