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Communication Dans Un Congrès Année : 2024

An Efficient Modular Algorithm for Connected Multi-Agent Path Finding

Résumé

We present a new algorithm for solving the connected multi-agent path finding problem (connected MAPF) which consists in finding paths for a set of agents that avoid collisions but also ensure connectivity between agents during the mission. Our algorithm is based on heuristic search and combines ODrM∗ , a well known algorithm without connectivity constraints, and an efficient but incomplete solver for the connected MAPF from the literature. We present a formal analysis of the termination and completeness of our algorithm, and present an experimental evaluation, showing a significant improvement over the state of the art.
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Dates et versions

hal-04650916 , version 1 (17-07-2024)

Identifiants

  • HAL Id : hal-04650916 , version 1

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Victorien Desbois, Ocan Sankur, François Schwarzentruber. An Efficient Modular Algorithm for Connected Multi-Agent Path Finding. 27th European Conference on Artificial Intelligence, Oct 2024, Santiago de Compostela, Spain. ⟨hal-04650916⟩
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