Multi-Agent Path Finding with Capacity Constraints
Multi-Agent Path Finding with Capacity Constraints
复制标题
容量约束下的多智能体路径查找
DOI：
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
Sven Koenig
中科院分区：
文献类型：
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作者：
Pavel Surynek;T. K. S. Kumar;Sven Koenig
在多智能体路径寻找（MAPF）中，任务是将智能体从它们的起始位置导航到给定的个体目标。这个问题发生在一个无向图中，它的顶点代表位置，边定义拓扑。代理可以跨边移动到相邻顶点。在标准的MAPF，空间占用代理建模的容量约束，允许每个顶点最多一个代理。我们建议在本文中的MAPF的扩展，允许每个顶点一个以上的代理。研究了MAPF扩展的命题可满足性模型。我们专注于建模能力的限制，在SAT为基础的配方的MAPF和这些模型的性能评估。我们扩展了现有的两个基于SAT的配方与顶点容量约束：MDD-SAT和SMT-CBS，前者是一种方法，建立在一个渴望的方式，而后者依赖于懒惰的模型建设。
In multi-agent path finding (MAPF) the task is to navigate agents from their starting positions to given individual goals. The problem takes place in an undirected graph whose vertices represent positions and edges define the topology. Agents can move to neighbor vertices across edges. In the standard MAPF, space occupation by agents is modeled by a capacity constraint that permits at most one agent per vertex. We suggest an extension of MAPF in this paper that permits more than one agent per vertex. Propositional satisfiability (SAT) models for these extensions of MAPF are studied. We focus on modeling capacity constraints in SAT-based formulations of MAPF and evaluation of performance of these models. We extend two existing SAT-based formulations with vertex capacity constraints: MDD-SAT and SMT-CBS where the former is an approach that builds the model in an eager way while the latter relies on lazy construction of the model.
大型代理的多代理路径查找
DOI：
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发表时间：
2019
期刊：
Proceedings of the AAAI Conference on Artificial Intelligence (AAAI
影响因子：
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作者：
Li, J.;Surynek, P.;Felner, A.;Ma, H.;Kumar, S.;Koenig, S.
通讯作者：
Koenig, S.