About: Multi-agent RRT*: Sampling-based Cooperative Pathfinding

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rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
Description	Cooperative pathfinding is a problem of finding a set of non-conflicting trajectories for a number of mobile agents. Its applications include planning for teams of mobile robots, such as autonomous aircrafts, cars, or underwater ve- hicles. The state-of-the-art algorithms for cooperative pathfinding for embod- ied robots typically rely on some heuristic forward-search pathfinding technique, where A* is often the algorithm of choice. Here, we propose MA-RRT, a novel algorithm for multi-agent motion planning that builds upon a recently proposed asymptotically-optimal sampling-based algorithm called RRT. In this paper, we focus on the case where the agents’ mobility model is a discrete graph. We eval- uate the performance of the proposed algorithm and its scalability with respect to the number of agents and the size of the environment. Our results show that the sampling-based approach offers better scalability than the classical forward- search approach in relatively sparse environments, which are typical in real-world applications such as multi-aircraft collision avoidance. Cooperative pathfinding is a problem of finding a set of non-conflicting trajectories for a number of mobile agents. Its applications include planning for teams of mobile robots, such as autonomous aircrafts, cars, or underwater ve- hicles. The state-of-the-art algorithms for cooperative pathfinding for embod- ied robots typically rely on some heuristic forward-search pathfinding technique, where A* is often the algorithm of choice. Here, we propose MA-RRT, a novel algorithm for multi-agent motion planning that builds upon a recently proposed asymptotically-optimal sampling-based algorithm called RRT. In this paper, we focus on the case where the agents’ mobility model is a discrete graph. We eval- uate the performance of the proposed algorithm and its scalability with respect to the number of agents and the size of the environment. Our results show that the sampling-based approach offers better scalability than the classical forward- search approach in relatively sparse environments, which are typical in real-world applications such as multi-aircraft collision avoidance. (en)
Title	Multi-agent RRT: Sampling-based Cooperative Pathfinding Multi-agent RRT: Sampling-based Cooperative Pathfinding (en)
skos:prefLabel	Multi-agent RRT: Sampling-based Cooperative Pathfinding Multi-agent RRT: Sampling-based Cooperative Pathfinding (en)
skos:notation	RIV/68407700:21230/13:00211552!RIV14-MSM-21230___
http://linked.open...avai/riv/aktivita	P S
http://linked.open...avai/riv/aktivity	P(7H11102), P(LD12044), S
http://linked.open...vai/riv/dodaniDat	2014
http://linked.open...aciTvurceVysledku	Pěchouček, Michal Čáp, Michal Vokřínek, Jiří
http://linked.open.../riv/druhVysledku	O - Ostatní výsledky nezařaditelné do žádného z výše uvedených druhů výsledku
http://linked.open...iv/duvernostUdaju	S - Úplné a pravdivé údaje nepodléhající ochraně podle zvláštních právních předpisů
http://linked.open...titaPredkladatele	České vysoké učení technické v Praze / Fakulta elektrotechnická
http://linked.open...dnocenehoVysledku	89987
http://linked.open...ai/riv/idVysledku	RIV/68407700:21230/13:00211552
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	Cooperative pathfinding; multi-agent motion planning (en)
http://linked.open.../riv/klicoveSlovo	multi-agent motion planning Cooperative pathfinding
http://linked.open...ontrolniKodProRIV	[AA0921BB00DC]
http://linked.open...in/vavai/riv/obor	IN
http://linked.open...ichTvurcuVysledku	3 (xsd:int)
http://linked.open...cetTvurcuVysledku	4 (xsd:int)
http://linked.open...vavai/riv/projekt	Designing Dynamic Distributed Cooperative Human-Machine Systems Agent-based Computing for Autonomic Road Transport Support Systems
http://linked.open...UplatneniVysledku	2013
http://linked.open...iv/tvurceVysledku	Novák, Peter Pěchouček, Michal Vokřínek, Jiří Čáp, Michal
http://localhost/t...ganizacniJednotka	21230

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