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.
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CITATION STYLE
Atzmon, D., Zax, Y., Kivity, E., Avitan, L., Morag, J., & Felner, A. (2020). Generalizing multi-agent path finding for heterogeneous agents. In Proceedings of the 13th International Symposium on Combinatorial Search, SoCS 2020 (pp. 101–105). The AAAI Press. https://doi.org/10.1609/socs.v11i1.18540
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