[4N2-IS-3b] Agents (2/2)

[4N2-IS-3b-03] Offline Time-Independent Multi-Agent Path Planning

〇Keisuke Okumura¹, Yasumasa Tamura¹, Xavier Defago¹ (1. Tokyo Institute of Technology)

Keywords:multi-agent planning, multi-robot coordination, path finding

Systems with multiple moving agents work inherently in a distributed environment with many uncertainties for timing assumptions such as delays. Thus, perfect executions of multi-agent path planning, which assume synchronized action between agents, become more challenging with more agents. This study proposes an alternative approach, called offline time-independent multi-agent path planning, without any timing assumptions. In any order of agent actions at execution, such plannings ensure that agents eventually reach their destinations. We show the advantages of the proposal through simulation with stochastic delays of agents' moves and demo with actual robots.