arXivDaily arXiv每日学术速递 周一至周五更新
arXiv 2007.03575cs.AIcs.MA
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基于搜索的多Agent路径查找中的正面冲突解决

Resolving Head-On Conflicts for Multi-Agent Path Finding with Conflict-Based Search

Jilin University(吉林大学)

Lun Yang

摘要:

基于路径搜索(CBS)是解决多智能体路径搜索问题的一个流行框架。当在一个或两个子节点上进行拆分时,一些冲突会在这些子节点中引发可预见的冲突。本文介绍了一种新的技术,即迎面技术,发现这样的冲突,所以他们可以更有效地解决冲突与潜在的冲突一起在一个分裂。该技术适用于所有基于CBS的求解器。实验结果表明,迎面技术提高了国家的最先进的MAPF求解器CBSH。

英文摘要:

Conflict-Based Search (CBS) is a popular framework for solving the Multi-Agent Path Finding problem. Some of the conflicts incur a foreseeable conflict in one or both of the children nodes when splitting on them. This paper introduces a new technique, namely the head-on technique that finds out such conflicts, so they can be processed more efficiently by resolving the conflict with the potential conflict all together in one split. The proposed technique applies to all CBS-based solvers. Experimental results show that the head-on technique improves the state-of-the-art MAPF solver CBSH.

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。

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