TY - GEN
T1 - Multi-train path finding
AU - Atzmon, Dor
AU - Diei, Amit
AU - Rave, Daniel
N1 - Publisher Copyright:
Copyright © 2019, Association for the Advancement of Artificial Intelligence (www.aaai.org). All rights reserved.
PY - 2019/1/1
Y1 - 2019/1/1
N2 - Multi-agent path finding (MAPF) is the problem of moving a set of agents from their individual start locations to their individual goal locations, without collisions. This problem has practical applications in video games, traffic control, robotics, and more. In MAPF we assume that agents occupy one location each time step. However, in real life some agents have different size or shape. Hence, a standard MAPF solution may be not suited in practice for some applications. In this paper, we describe a novel algorithm, based on the CBS algorithm, that finds a plan for moving a set of train-agents, i.e., agents that occupy a sequence of two or more locations, such as trains, buses, planes, or even snakes. We prove that our solution is optimal and show experimentally that indeed such a solution can be found. Finally, we explain how our solution can also apply to agents with any geometric shape.
AB - Multi-agent path finding (MAPF) is the problem of moving a set of agents from their individual start locations to their individual goal locations, without collisions. This problem has practical applications in video games, traffic control, robotics, and more. In MAPF we assume that agents occupy one location each time step. However, in real life some agents have different size or shape. Hence, a standard MAPF solution may be not suited in practice for some applications. In this paper, we describe a novel algorithm, based on the CBS algorithm, that finds a plan for moving a set of train-agents, i.e., agents that occupy a sequence of two or more locations, such as trains, buses, planes, or even snakes. We prove that our solution is optimal and show experimentally that indeed such a solution can be found. Finally, we explain how our solution can also apply to agents with any geometric shape.
UR - http://www.scopus.com/inward/record.url?scp=85076096297&partnerID=8YFLogxK
U2 - 10.1609/socs.v10i1.18515
DO - 10.1609/socs.v10i1.18515
M3 - Conference contribution
AN - SCOPUS:85076096297
T3 - Proceedings of the 12th International Symposium on Combinatorial Search, SoCS 2019
SP - 125
EP - 129
BT - Proceedings of the 12th International Symposium on Combinatorial Search, SoCS 2019
A2 - Surynek, Pavel
A2 - Yeoh, William
PB - AAAI press
T2 - 12th International Symposium on Combinatorial Search, SoCS 2019
Y2 - 16 July 2019 through 17 July 2019
ER -