TY - JOUR
T1 - Introducing Delays in Multi-Agent Path Finding
AU - Kottinger, Justin
AU - Geft, Tzvika
AU - Almagor, Shaull
AU - Salzman, Oren
AU - Lahijanian, Morteza
N1 - Publisher Copyright:
© 2024, Association for the Advancement of Artificial Intelligence (www.aaai.org). All rights reserved.
PY - 2024
Y1 - 2024
N2 - We consider a Multi-Agent Path Finding (MAPF) setting where agents have been assigned a plan, but during its execution some agents are delayed. Instead of replanning from scratch when such a delay occurs, we propose delay introduction, whereby we delay some additional agents so that the remainder of the plan can be executed safely. We show that finding the minimum number of additional delays is APXhard, i.e., it is NP-hard to find a (1 + ε)-approximation for some ε > 0. However, in practice we can find optimal delay-introductions using Conflict-Based Search for very large numbers of agents, and both planning time and the resulting length of the plan are comparable, and sometimes outperform the state-of-the-art heuristics for replanning.
AB - We consider a Multi-Agent Path Finding (MAPF) setting where agents have been assigned a plan, but during its execution some agents are delayed. Instead of replanning from scratch when such a delay occurs, we propose delay introduction, whereby we delay some additional agents so that the remainder of the plan can be executed safely. We show that finding the minimum number of additional delays is APXhard, i.e., it is NP-hard to find a (1 + ε)-approximation for some ε > 0. However, in practice we can find optimal delay-introductions using Conflict-Based Search for very large numbers of agents, and both planning time and the resulting length of the plan are comparable, and sometimes outperform the state-of-the-art heuristics for replanning.
UR - http://www.scopus.com/inward/record.url?scp=85196613435&partnerID=8YFLogxK
U2 - 10.1609/socs.v17i1.31540
DO - 10.1609/socs.v17i1.31540
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AN - SCOPUS:85196613435
SN - 2832-9171
VL - 17
SP - 37
EP - 45
JO - The International Symposium on Combinatorial Search
JF - The International Symposium on Combinatorial Search
IS - 1
T2 - 17th International Symposium on Combinatorial Search, SoCS 2024
Y2 - 6 June 2024 through 8 June 2024
ER -