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arXiv · 2006.03280

Conflict-Based Search for Connected Multi-Agent Path Finding

Arthur Queffelec·Ocan Sankur·François Schwarzentruber
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Abstract

We study a variant of the multi-agent path finding problem (MAPF) in which agents are required to remain connected to each other and to a designated base. This problem has applications in search and rescue missions where the entire execution must be monitored by a human operator. We re-visit the conflict-based search algorithm known for MAPF, and define a variant where conflicts arise from disconnections rather than collisions. We study optimizations, and give experimental results in which we compare our algorithms with the literature.

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Arthur Queffelec, Ocan Sankur, François Schwarzentruber. 2020-06-05. Conflict-Based Search for Connected Multi-Agent Path Finding. https://arxiv.org/abs/2006.03280

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