通过目标与优先级交换实现去中心化无标签多智能体寻路（附补充材料）
Decentralized Unlabeled Multi-agent Pathfinding Via Target And Priority Swapping (With Supplementary)
AI总结：
本文研究了去中心化的匿名多智能体寻路问题（AMAPF），提出首个完全去中心化求解器TP-SWAP，通过优先级和目标交换程序确保目标分配一致性，结合基于规则的路径规划，理论上证明其完备性，实验表明其在流时间上优于去中心化基线甚至半去中心化方法。
摘要：
在本文中，我们研究了多智能体寻路问题（MAPF）的一个具有挑战性的变体，即一组智能体必须到达一组目标位置，但具体哪个智能体到达哪个目标并不重要——这被称为匿名MAPF（AMAPF）。当前的最优和次优AMAPF求解器依赖于一个集中式控制器的存在，该控制器负责目标分配和寻路。我们扩展了现有技术水平，提出了首个能够以完全去中心化的方式解决当前问题的AMAPF求解器，其中每个智能体单独做出决策，并且仅依赖于与其他智能体的局部通信。我们方法的核心是一个优先级和目标交换程序，旨在产生一致的目标分配（即确保没有两个智能体朝向同一个目标）。结合一种成熟的基于规则的路径规划，我们最终提出了TP-SWAP，这是一种解决去中心化AMAPF的高效且灵活的方法。在理论方面，我们证明了TP-SWAP是完备的（即TP-SWAP保证每个目标都会被某个智能体到达）。在实验方面，我们在广泛的设置下评估了TP-SWAP，并将其与集中式和去中心化基线进行了比较。事实上，TP-SWAP优于完全去中心化的竞争方法，并且在流时间（MAPF中一种普遍的成本目标）方面甚至可以优于半去中心化方法（即依赖于初始一致目标分配的方法）。
英文摘要：
In this paper we study a challenging variant of the multi-agent pathfinding problem (MAPF), when a set of agents must reach a set of goal locations, but it does not matter which agent reaches a specific goal - Anonymous MAPF (AMAPF). Current optimal and suboptimal AMAPF solvers rely on the existence of a centralized controller which is in charge of both target assignment and pathfinding. We extend the state of the art and present the first AMAPF solver capable of solving the problem at hand in a fully decentralized fashion, when each agent makes decisions individually and relies only on the local communication with the others. The core of our method is a priority and target swapping procedure tailored to produce consistent goal assignments (i.e. making sure that no two agents are heading towards the same goal). Coupled with an established rule-based path planning, we end up with a TP-SWAP, an efficient and flexible approach to solve decentralized AMAPF. On the theoretical side, we prove that TP-SWAP is complete (i.e. TP-SWAP guarantees that each target will be reached by some agent). Empirically, we evaluate TP-SWAP across a wide range of setups and compare it to both centralized and decentralized baselines. Indeed, TP-SWAP outperforms the fully-decentralized competitor and can even outperform the semi-decentralized one (i.e. the one relying on the initial consistent goal assignment) in terms of flowtime (a widespread cost objective in MAPF
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。
