Emergent Mind
Resolving Spatial-Time Conflicts In A Set Of Any-angle Or Angle-constrained Grid Paths
(1608.02763)
Published Aug 9, 2016
in
cs.AI
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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