Generalizing Multi-Agent Path Finding for Heterogeneous Agents

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.

[1]  Roni Stern,et al.  Multi-Agent Pathfinding: Definitions, Variants, and Benchmarks , 2019, SOCS.

[2]  Pavel Surynek,et al.  Towards Optimal Cooperative Path Planning in Hard Setups through Satisfiability Solving , 2012, PRICAI.

[3]  Sven Koenig,et al.  Multi-Agent Path Finding for Large Agents , 2019, SOCS.

[4]  Nathan R. Sturtevant,et al.  Search-Based Optimal Solvers for the Multi-Agent Pathfinding Problem: Summary and Challenges , 2021, SOCS.

[5]  Peter J. Stuckey,et al.  Branch-and-Cut-and-Price for Multi-Agent Pathfinding , 2019, IJCAI.

[6]  Nathan R. Sturtevant,et al.  Benchmarks for Grid-Based Pathfinding , 2012, IEEE Transactions on Computational Intelligence and AI in Games.

[7]  Sven Koenig,et al.  Adding Heuristics to Conflict-Based Search for Multi-Agent Path Finding , 2018, ICAPS.

[8]  Peter J. Stuckey,et al.  Disjoint Splitting for Multi-Agent Path Finding with Conflict-Based Search , 2019, ICAPS.

[9]  Nathan R. Sturtevant,et al.  Meta-Agent Conflict-Based Search For Optimal Multi-Agent Path Finding. , 2012 .

[10]  Pavel Surynek,et al.  An Optimization Variant of Multi-Robot Path Planning Is Intractable , 2010, AAAI.

[11]  Peter J. Stuckey,et al.  Lazy CBS: Implicit Conflict-Based Search Using Lazy Clause Generation , 2019, ICAPS.

[12]  David Tolpin,et al.  ICBS: The Improved Conflict-Based Search Algorithm for Multi-Agent Pathfinding , 2015, SOCS.

[13]  M. Narasimha Murty,et al.  Extended Conflict-Based Search for the Convoy Movement Problem , 2015, IEEE Intelligent Systems.

[14]  Steven M. LaValle,et al.  Structure and Intractability of Optimal Multi-Robot Path Planning on Graphs , 2013, AAAI.

[15]  Dor Atzmon,et al.  Multi-Train Path Finding , 2019, SOCS.

[16]  Nathan R. Sturtevant,et al.  Conflict-based search for optimal multi-agent pathfinding , 2012, Artif. Intell..

[17]  Roni Stern,et al.  Probabilistic Robust Multi-Agent Path Finding , 2020, SOCS.

[18]  Howie Choset,et al.  Path Planning for Multiple Agents under Uncertainty , 2017, ICAPS.

[19]  Roman Barták,et al.  Robust Multi-Agent Path Finding and Executing , 2020, J. Artif. Intell. Res..