@inproceedings{a27213fd591741e48eceeab8ba4a01b8,
title = "Corridor Occupancy-Based Multi-Agent Pathfinding in Topological Maps",
abstract = "This study investigates the multi-agent pathfinding (MAPF) problem in a topological map consisting only of narrow corridors. When two or more robots move in a corridor, general MAPF algorithms determine the optimal corridor entry order to plan collision-free paths. However, depending on the width of a corridor, safety problems may occur if two or more robots navigate the corridor simultaneously. To ensure the safety of robot navigation, we propose a new MAPF method that prevents more than two robots from passing in the same corridor. This method plans multi-agent paths by assigning a spatialized constraint to a corridor entrance. The constraint allows only one robot to occupy one corridor.",
keywords = "logistics robots, multi-agent pathfinding, multi-robot system, topological map",
author = "Soohwan Song and Na, {Ki In} and Wonpil Yu",
note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 13th International Conference on Information and Communication Technology Convergence, ICTC 2022 ; Conference date: 19-10-2022 Through 21-10-2022",
year = "2022",
doi = "10.1109/ICTC55196.2022.9952848",
language = "English",
series = "International Conference on ICT Convergence",
publisher = "IEEE Computer Society",
pages = "181--183",
booktitle = "ICTC 2022 - 13th International Conference on Information and Communication Technology Convergence",
address = "United States",
}