Coordinated Collision-free Movement of Groups of Agents

Jiří Švancara; Marika Ivanová; Roman Barták

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Paper

Coordinated Collision-free Movement of Groups of Agents

Topics: Mobile Agents; Planning and Scheduling; Task Planning and Execution

In Proceedings of the 14th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART, 26-33, 2022

Authors: Jiří Švancara ; Marika Ivanová and Roman Barták

Affiliation: Charles University, Faculty of Mathematics and Physics Prague, Czech Republic

Keyword(s): Coordinated Movement, Multi-agent, Path Finding, SAT Model.

Abstract: Coordinating the movement of groups of autonomous agents in a crowded environment is a vital problem with application areas such as warehousing, computer games, or drone art. In this paper, we study the problem of finding collision-free paths for groups of agents such that the groups are kept together like a flock, a fish school, or a military unit. Specifically, we analyze the properties of the problem, propose a SAT formulation based on network flows, and perform a numerical experimental evaluation on various instance types. The results suggest that it is a challenging problem with promising research and application potential. Furthermore, we demonstrate the functionality of our solution method on real educational robots.

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Paper citation in several formats:

Švancara, J.; Ivanová, M. and Barták, R. (2022). Coordinated Collision-free Movement of Groups of Agents. In Proceedings of the 14th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART; ISBN 978-989-758-547-0; ISSN 2184-433X, SciTePress, pages 26-33. DOI: 10.5220/0010789100003116

@conference{icaart22,
author={Ji\v{r}í Švancara. and Marika Ivanová. and Roman Barták.},
title={Coordinated Collision-free Movement of Groups of Agents},
booktitle={Proceedings of the 14th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART},
year={2022},
pages={26-33},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010789100003116},
isbn={978-989-758-547-0},
issn={2184-433X},
}

TY - CONF

JO - Proceedings of the 14th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART
TI - Coordinated Collision-free Movement of Groups of Agents
SN - 978-989-758-547-0
IS - 2184-433X
AU - Švancara, J.
AU - Ivanová, M.
AU - Barták, R.
PY - 2022
SP - 26
EP - 33
DO - 10.5220/0010789100003116
PB - SciTePress