推进包络：通过惰性编码的多智能体路径查找中从离散到连续的运动
Pushing the Envelope: From Discrete to Continuous Movements in Multi-Agent Path Finding via Lazy Encodings
摘要：
研究了基于几何智能体MAPF $^\mathcal{R}$的多智能体连续时空路径搜索问题。该任务是导航代理之间的预定义的位置，以他们各自的目标，使他们不碰撞顺利移动。基于{ \em可满足性模理论}（SMT），提出了一种新的求解方法SMT-CBS $^\mathcal{R}$.新算法结合冲突解决已知的基于冲突的搜索（CBS）与上一代的不完整的SAT编码顶部的一个新的计划，选择决策变量在一个潜在的不可数的搜索空间。我们实验比较SMT-CBS $^\mathcal{R}$和以前的CCBS算法的MAPF $^\mathcal{R}$。
英文摘要：
Multi-agent path finding in continuous space and time with geometric agents MAPF$^\mathcal{R}$ is addressed in this paper. The task is to navigate agents that move smoothly between predefined positions to their individual goals so that they do not collide. We introduce a novel solving approach for obtaining makespan optimal solutions called SMT-CBS$^\mathcal{R}$ based on {\em satisfiability modulo theories} (SMT). The new algorithm combines collision resolution known from conflict-based search (CBS) with previous generation of incomplete SAT encodings on top of a novel scheme for selecting decision variables in a potentially uncountable search space. We experimentally compare SMT-CBS$^\mathcal{R}$ and previous CCBS algorithm for MAPF$^\mathcal{R}$.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
