About: Finding Coordinated Paths for Multiple Holonomic Agents in 2-D Polygonal Environment

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Attributes	Values
rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
rdfs:seeAlso	http://aamas2014.lip6.fr/proceedings/aamas/p1117.pdf
Description	Avoiding collisions is one of the vital tasks for systems of au- tonomous mobile agents. We focus on the problem of find- ing continuous coordinated paths for multiple mobile disc agents in a 2-d environment with polygonal obstacles. The problem is PSPACE-hard, with the state space growing ex- ponentially in the number of agents. Therefore, the state of the art methods include mainly reactive techniques and sampling-based iterative algorithms. We compare the performance of a widely-used reactive method ORCA with three variants of a popular planning algorithm RRT* applied to multi-agent path planning and find that an algorithm combining reactive collision avoid- ance and RRT* planning, which we call ORCA-RRT* can be used to solve instances that are out of the reach of ei- ther of the techniques. We experimentally show that: 1) the reactive part of the algorithm can efficiently solve many multi-agent path finding problems involving large number of agents, for which RRT* algorithm is often unable to find a solution in limited time and 2) the planning component of the algorithm is able to solve many instances containing local minima, where reactive techniques typically fail. Avoiding collisions is one of the vital tasks for systems of au- tonomous mobile agents. We focus on the problem of find- ing continuous coordinated paths for multiple mobile disc agents in a 2-d environment with polygonal obstacles. The problem is PSPACE-hard, with the state space growing ex- ponentially in the number of agents. Therefore, the state of the art methods include mainly reactive techniques and sampling-based iterative algorithms. We compare the performance of a widely-used reactive method ORCA with three variants of a popular planning algorithm RRT* applied to multi-agent path planning and find that an algorithm combining reactive collision avoid- ance and RRT* planning, which we call ORCA-RRT* can be used to solve instances that are out of the reach of ei- ther of the techniques. We experimentally show that: 1) the reactive part of the algorithm can efficiently solve many multi-agent path finding problems involving large number of agents, for which RRT* algorithm is often unable to find a solution in limited time and 2) the planning component of the algorithm is able to solve many instances containing local minima, where reactive techniques typically fail. (en)
Title	Finding Coordinated Paths for Multiple Holonomic Agents in 2-D Polygonal Environment Finding Coordinated Paths for Multiple Holonomic Agents in 2-D Polygonal Environment (en)
skos:prefLabel	Finding Coordinated Paths for Multiple Holonomic Agents in 2-D Polygonal Environment Finding Coordinated Paths for Multiple Holonomic Agents in 2-D Polygonal Environment (en)
skos:notation	RIV/68407700:21230/14:00217978!RIV15-MSM-21230___
http://linked.open...avai/riv/aktivita	P
http://linked.open...avai/riv/aktivity	P(LD12044)
http://linked.open...vai/riv/dodaniDat	2015
http://linked.open...aciTvurceVysledku	Janovský, Pavel Čáp, Michal Vokřínek, Jiří
http://linked.open.../riv/druhVysledku	D - Článek ve sborníku
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	16854
http://linked.open...ai/riv/idVysledku	RIV/68407700:21230/14:00217978
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	Path finding problem; multi-agent solver; planning; reactive technique (en)
http://linked.open.../riv/klicoveSlovo	planning multi-agent solver Path finding problem reactive technique
http://linked.open...ontrolniKodProRIV	[6CE7B898A6D3]
http://linked.open...v/mistoKonaniAkce	Paris
http://linked.open...i/riv/mistoVydani	County of Richland
http://linked.open...i/riv/nazevZdroje	Proceedings of the 13th International Conference on Autonomous Agents and Multiagent Systems
http://linked.open...in/vavai/riv/obor	IN
http://linked.open...ichTvurcuVysledku	3 (xsd:int)
http://linked.open...cetTvurcuVysledku	3 (xsd:int)
http://linked.open...vavai/riv/projekt	Agent-based Computing for Autonomic Road Transport Support Systems
http://linked.open...UplatneniVysledku	2014
http://linked.open...iv/tvurceVysledku	Vokřínek, Jiří Čáp, Michal Janovský, Pavel
http://linked.open...vavai/riv/typAkce	WRD - Světová
http://linked.open.../riv/zahajeniAkce	2014-05-05 (xsd:date)
number of pages	7 (xsd:int)
http://purl.org/ne...btex#hasPublisher	IFAAMAS
https://schema.org/isbn	978-1-4503-2738-1
http://localhost/t...ganizacniJednotka	21230

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