A Real-Time Rescheduling Algorithm for Multi-robot Plan Execution
arxiv(2024)
摘要
One area of research in multi-agent path finding is to determine how
replanning can be efficiently achieved in the case of agents being delayed
during execution. One option is to reschedule the passing order of agents,
i.e., the sequence in which agents visit the same location. In response, we
propose Switchable-Edge Search (SES), an A*-style algorithm designed to find
optimal passing orders. We prove the optimality of SES and evaluate its
efficiency via simulations. The best variant of SES takes less than 1 second
for small- and medium-sized problems and runs up to 4 times faster than
baselines for large-sized problems.
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