An Efficient Modular Algorithm for Connected Multi-Agent Path Finding
Résumé
We present a new algorithm for solving the connected multi-agent path finding problem (connected MAPF) which consists in finding paths for a set of agents that avoid collisions but also ensure connectivity between agents during the mission. Our algorithm is based on heuristic search and combines ODrM∗ , a well known algorithm without connectivity constraints, and an efficient but incomplete solver for the connected MAPF from the literature. We present a formal analysis of the termination and completeness of our algorithm, and present an experimental evaluation, showing a significant improvement over the state of the art.
Domaines
Intelligence artificielle [cs.AI]| Origine | Fichiers produits par l'(les) auteur(s) |
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