TY - GEN
T1 - Multi-agent Path Planning for Simultaneous Arrival Based on Conflict-Based Search
AU - Jiang, Haoxian
AU - Liu, Guanzhong
AU - Zhou, Rui
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.
PY - 2025
Y1 - 2025
N2 - This paper proposes an enhanced conflict-based search algorithm for addressing conflict detection and resolution in multi-agent path planning, particularly focusing on simultaneous arrival scenarios. Considering the practical scenario where agents possess safety radii and adjustable velocities, the algorithm incorporates several enhancements. Firstly, it improves the evaluation function of the low-level search and applies path smoothing to ensure that the generated paths are more continuous and feasible. Secondly, in the high-level search, path solutions are guided by the objective of achieving simultaneous arrival times. Furthermore, the conflict detection is improved, and a conflict resolution method based on velocity and constraints is proposed to more effectively resolve path conflicts. Simulation results demonstrate that the proposed conflict detection and resolution methods effectively address path conflicts, enabling successful realization of multi-agent temporal coordination tasks.
AB - This paper proposes an enhanced conflict-based search algorithm for addressing conflict detection and resolution in multi-agent path planning, particularly focusing on simultaneous arrival scenarios. Considering the practical scenario where agents possess safety radii and adjustable velocities, the algorithm incorporates several enhancements. Firstly, it improves the evaluation function of the low-level search and applies path smoothing to ensure that the generated paths are more continuous and feasible. Secondly, in the high-level search, path solutions are guided by the objective of achieving simultaneous arrival times. Furthermore, the conflict detection is improved, and a conflict resolution method based on velocity and constraints is proposed to more effectively resolve path conflicts. Simulation results demonstrate that the proposed conflict detection and resolution methods effectively address path conflicts, enabling successful realization of multi-agent temporal coordination tasks.
KW - conflict resolution
KW - conflict-based search
KW - multi-agent path planning
KW - temporal coordination
UR - https://www.scopus.com/pages/publications/105000721426
U2 - 10.1007/978-981-96-2240-5_36
DO - 10.1007/978-981-96-2240-5_36
M3 - 会议稿件
AN - SCOPUS:105000721426
SN - 9789819622399
T3 - Lecture Notes in Electrical Engineering
SP - 359
EP - 369
BT - Advances in Guidance, Navigation and Control - Proceedings of 2024 International Conference on Guidance, Navigation and Control Volume 11
A2 - Yan, Liang
A2 - Duan, Haibin
A2 - Deng, Yimin
PB - Springer Science and Business Media Deutschland GmbH
T2 - International Conference on Guidance, Navigation and Control, ICGNC 2024
Y2 - 9 August 2024 through 11 August 2024
ER -