MS *：一种新的多智能体同时多目标排序和路径搜索精确算法
MS*: A New Exact Algorithm for Multi-agent Simultaneous Multi-goal Sequencing and Path Finding
摘要：
在多智能体应用中，如监控和物流，移动代理的车队往往被期望协调和安全地访问大量的目标位置尽可能有效。在这些应用程序中的多智能体规划问题涉及分配和排序的目标，为每个代理，同时产生无冲突的代理路径。在这篇文章中，我们介绍了一种新的算法，称为MS*，它通过融合和推进多智能体路径查找（MAPF）和多旅行商问题（mTSP）的最新求解器来计算多智能体问题的最优解。MS* 利用我们先前的MAPF子维度扩展方法，并嵌入mTSP求解器，为智能体优化分配和排序目标。数值结果表明，我们的新算法可以解决20代理和50个目标的多智能体问题在一分钟的CPU时间在一个标准的笔记本电脑。
英文摘要：
In multi-agent applications such as surveillance and logistics, fleets of mobile agents are often expected to coordinate and safely visit a large number of goal locations as efficiently as possible. The multi-agent planning problem in these applications involves allocating and sequencing goals for each agent while simultaneously producing conflict-free paths for the agents. In this article, we introduce a new algorithm called MS* which computes an optimal solution for this multi-agent problem by fusing and advancing state of the art solvers for multi-agent path finding (MAPF) and multiple travelling salesman problem (mTSP). MS* leverages our prior subdimensional expansion approach for MAPF and embeds the mTSP solvers to optimally allocate and sequence goals for agents. Numerical results show that our new algorithm can solve the multi-agent problem with 20 agents and 50 goals in a minute of CPU time on a standard laptop.
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。
