Multi-Agent Path Finding with Priority Transfer Accompanied with Moving Obstacles

Yichen Ding; Jialong Li; Kenji Tei

doi:10.1109/SISY56759.2022.10036293

Multi-Agent Path Finding with Priority Transfer Accompanied with Moving Obstacles

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

In the Multi-Agent Path Finding (MAPF) problem, a set of agents moving on a graph must reach their respective destinations without inter-agent collisions. In the MAPF problem, when agents plan a route, they compete for some resources on a specific route, and such contention sometimes causes deadlock. However, unpredictable obstacles like warehouses may appear in real scenes, making route planning difficult. Based on the existing MAPF algorithm, this paper proposes a new algorithm that relies on an adaptive prioritization scheme to pay effort to the adjacent movements of multiple agents in the presence of unpredictable and moving obstacles while avoiding collisions.

Original language	English
Title of host publication	SISY 2022 - IEEE 20th Jubilee International Symposium on Intelligent Systems and Informatics, Proceedings
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	103-108
Number of pages	6
ISBN (Electronic)	9781665489881
DOIs	https://doi.org/10.1109/SISY56759.2022.10036293
Publication status	Published - 2022
Event	20th IEEE Jubilee International Symposium on Intelligent Systems and Informatics, SISY 2022 - Subotica, Serbia Duration: 2022 Sept 15 → 2022 Sept 17

Publication series

Name	SISY 2022 - IEEE 20th Jubilee International Symposium on Intelligent Systems and Informatics, Proceedings

Conference

Conference	20th IEEE Jubilee International Symposium on Intelligent Systems and Informatics, SISY 2022
Country/Territory	Serbia
City	Subotica
Period	22/9/15 → 22/9/17

Keywords

Multi-agent path finding
moving obstacles
prioritized planning

ASJC Scopus subject areas

Artificial Intelligence
Human-Computer Interaction
Information Systems
Information Systems and Management
Modelling and Simulation
Health Informatics

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1109/SISY56759.2022.10036293

Cite this

Ding, Y., Li, J., & Tei, K. (2022). Multi-Agent Path Finding with Priority Transfer Accompanied with Moving Obstacles. In SISY 2022 - IEEE 20th Jubilee International Symposium on Intelligent Systems and Informatics, Proceedings (pp. 103-108). (SISY 2022 - IEEE 20th Jubilee International Symposium on Intelligent Systems and Informatics, Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SISY56759.2022.10036293

Multi-Agent Path Finding with Priority Transfer Accompanied with Moving Obstacles. / Ding, Yichen; Li, Jialong ; Tei, Kenji.
SISY 2022 - IEEE 20th Jubilee International Symposium on Intelligent Systems and Informatics, Proceedings. Institute of Electrical and Electronics Engineers Inc., 2022. p. 103-108 (SISY 2022 - IEEE 20th Jubilee International Symposium on Intelligent Systems and Informatics, Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Ding, Y, Li, J & Tei, K 2022, Multi-Agent Path Finding with Priority Transfer Accompanied with Moving Obstacles. in SISY 2022 - IEEE 20th Jubilee International Symposium on Intelligent Systems and Informatics, Proceedings. SISY 2022 - IEEE 20th Jubilee International Symposium on Intelligent Systems and Informatics, Proceedings, Institute of Electrical and Electronics Engineers Inc., pp. 103-108, 20th IEEE Jubilee International Symposium on Intelligent Systems and Informatics, SISY 2022, Subotica, Serbia, 22/9/15. https://doi.org/10.1109/SISY56759.2022.10036293

Ding Y, Li J , Tei K. Multi-Agent Path Finding with Priority Transfer Accompanied with Moving Obstacles. In SISY 2022 - IEEE 20th Jubilee International Symposium on Intelligent Systems and Informatics, Proceedings. Institute of Electrical and Electronics Engineers Inc. 2022. p. 103-108. (SISY 2022 - IEEE 20th Jubilee International Symposium on Intelligent Systems and Informatics, Proceedings). doi: 10.1109/SISY56759.2022.10036293

Ding, Yichen ; Li, Jialong ; Tei, Kenji. / Multi-Agent Path Finding with Priority Transfer Accompanied with Moving Obstacles. SISY 2022 - IEEE 20th Jubilee International Symposium on Intelligent Systems and Informatics, Proceedings. Institute of Electrical and Electronics Engineers Inc., 2022. pp. 103-108 (SISY 2022 - IEEE 20th Jubilee International Symposium on Intelligent Systems and Informatics, Proceedings).

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abstract = "In the Multi-Agent Path Finding (MAPF) problem, a set of agents moving on a graph must reach their respective destinations without inter-agent collisions. In the MAPF problem, when agents plan a route, they compete for some resources on a specific route, and such contention sometimes causes deadlock. However, unpredictable obstacles like warehouses may appear in real scenes, making route planning difficult. Based on the existing MAPF algorithm, this paper proposes a new algorithm that relies on an adaptive prioritization scheme to pay effort to the adjacent movements of multiple agents in the presence of unpredictable and moving obstacles while avoiding collisions.",

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note = "Funding Information: The research was partially supported by JSPS KAKENHI and JSPS Research Fellowships for Young Scientists. Publisher Copyright: {\textcopyright} 2022 IEEE.; 20th IEEE Jubilee International Symposium on Intelligent Systems and Informatics, SISY 2022 ; Conference date: 15-09-2022 Through 17-09-2022",

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Multi-Agent Path Finding with Priority Transfer Accompanied with Moving Obstacles

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

UN SDGs

Access to Document

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