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arXiv · 1608.02763

Resolving Spatial-Time Conflicts In A Set Of Any-angle Or Angle-constrained Grid Paths

Konstantin Yakovlev·Anton Andreychuk
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Abstract

We study the multi-agent path finding problem (MAPF) for a group of agents which are allowed to move into arbitrary directions on a 2D square grid. We focus on centralized conflict resolution for independently computed plans. We propose an algorithm that eliminates conflicts by using local re-planning and introducing time offsets to the execution of paths by different agents. Experimental results show that the algorithm can find high quality conflict-free solutions at low computational cost.

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Konstantin Yakovlev, Anton Andreychuk. 2016-08-09. Resolving Spatial-Time Conflicts In A Set Of Any-angle Or Angle-constrained Grid Paths. https://arxiv.org/abs/1608.02763

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