2024/03/26 by Drew Scott, Satyanarayana G. Manyam, Scott, Drew +7
Computer Science · Engineering · #Control and Dynamics of Mobile Robots #FOS: Computer and information sciences #FOS: Mathematics #Guidance and Control Systems #Optimization and Control (math.OC) #Robotic Path Planning Algorithms #Robotics (cs.RO)
paper · pdf · doi:10.48550/arxiv.2403.17849
openalex publication_date 2024/03/26 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Multi Agent Path Finding (MAPF) seeks the optimal set of paths for multiple agents from respective start to goal locations such that no paths conflict. We address the MAPF problem for a fleet of hybrid-fuel unmanned aerial vehicles which are subject to location-dependent noise restrictions. We solve this problem by searching a constraint tree for which the subproblem at each node is a set of shortest path problems subject to the noise and fuel constraints and conflict zone avoidance. A labeling algorithm is presented to solve this subproblem, including the conflict zones which are treated as dynamic obstacles. We present the experimental results of the algorithms for various graph sizes and number of agents.