2024/09/16 by Kristýna Janovská, Janovská, Kristýna, Pavel Surynek +1
Computer Science · #Artificial Intelligence (cs.AI) #FOS: Computer and information sciences #Multi-Agent Systems and Negotiation #Multiagent Systems (cs.MA) #Multimodal Machine Learning Applications #Robotic Path Planning Algorithms
paper · pdf · doi:10.48550/arxiv.2409.10680
openalex publication_date 2024/09/16 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
We address a variant of multi-agent path finding in continuous environment (CE-MAPF), where agents move along sets of smooth curves. Collisions between agents are resolved via avoidance in the space domain. A new Continuous Environment Conflict-Based Search (CE-CBS) algorithm is proposed in this work. CE-CBS combines conflict-based search (CBS) for the high-level search framework with RRT* for low-level path planning. The CE-CBS algorithm is tested under various settings on diverse CE-MAPF instances. Experimental results show that CE-CBS is competitive w.r.t. to other algorithms that consider continuous aspect in MAPF such as MAPF with continuous time.