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Title
Japanese: 
English:Time-Independent Planning for Multiple Moving Agents 
Author
Japanese: 奥村 圭祐, 田村 康将, Defago Xavier.  
English: Keisuke Okumura, Yasumasa Tamura, Xavier Défago.  
Language English 
Journal/Book name
Japanese: 
English: 
Volume, Number, Page Vol. 35    No. 13    pp. 11299-11307
Published date May 18, 2021 
Publisher
Japanese: 
English: 
Conference name
Japanese: 
English:35th AAAI Conference on Artificial Intelligence 
Conference site
Japanese: 
English: 
Official URL https://ojs.aaai.org/index.php/AAAI/article/view/17347
 
Abstract Typical Multi-agent Path Finding (MAPF) solvers assume that agents move synchronously, thus neglecting the reality gap in timing assumptions, e.g., delays caused by an imperfect execution of asynchronous moves. So far, two policies enforce a robust execution of MAPF plans taken as input: either by forcing agents to synchronize or by executing plans while preserving temporal dependencies. This paper proposes an alternative approach, called time-independent planning, which is both online and distributed. We represent reality as a transition system that changes configurations according to atomic actions of agents, and use it to generate a time-independent schedule. Empirical results in a simulated environment with stochastic delays of agents' moves support the validity of our proposal.

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