Multi-agent Path Finding in Continuous Environment

Kristýna Janovská, Pavel Surynek
9/16/2024
cs.MAcs.AI

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Abstract

We address a variant of multi-agent path finding in continuous environment (CE-MAPF), where agents move along sets of smooth curves. Collisions between agents are resolved via avoidance in the space domain. A new Continuous Environment Conflict-Based Search (CE-CBS) algorithm is proposed in this work. CE-CBS combines conflict-based search (CBS) for the high-level search framework with RRT* for low-level path planning. The CE-CBS algorithm is tested under various settings on diverse CE-MAPF instances. Experimental results show that CE-CBS is competitive w.r.t. to other algorithms that consider continuous aspect in MAPF such as MAPF with continuous time.

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Cite this paper

@article{janovsk2024multiagent,
  title  = {Multi-agent Path Finding in Continuous Environment},
  author = {Kristýna Janovská and Pavel Surynek},
  year   = {2024},
  eprint = {2409.10680},
  archivePrefix = {arXiv},
  url    = {http://arxiv.org/abs/2409.10680v1}
}

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