Multi-Goal Multi-Agent Path Finding via Decoupled and Integrated Goal Vertex Ordering
DOI:
https://doi.org/10.1609/socs.v12i1.18582Keywords:
Problem Solving Using Search, Search In Goal-directed Problem SolvingAbstract
We introduce multi-goal multi agent path finding (MG-MAPF) which generalizes the standard discrete multi-agent path finding (MAPF) problem. While the task in MAPF is to navigate agents in an undirected graph from their starting vertices to one individual goal vertex per agent, MG-MAPF assigns each agent multiple goal vertices and the task is to visit each of them at least once. Solving MG-MAPF not only requires finding collision free paths for individual agents but also determining the order of visiting agent's goal vertices so that common objectives like the sum-of-costs are optimized.Downloads
Published
2021-07-21
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Extended Abstracts