Contingent Planning for Robust Multi-Agent Path Finding
DOI:
https://doi.org/10.1609/socs.v12i1.18578Keywords:
Problem Solving Using Search, Search In Robotics, Real-life ApplicationsAbstract
A classical approach to Multi-agent Path Finding assumes an offline construction of collision-free paths that the agents blindly follow during execution. k-robust plans can be executed without collisions even if an agent is delayed for at most k steps. In the paper, we propose a novel concept of robustness that uses alternative paths to which the agents are diverted in case of delay. Such plans can be found with much higher chances than k-robust plans.Downloads
Published
2021-07-21
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Section
Extended Abstracts