Corridor Occupancy-Based Multi-Agent Pathfinding in Topological Maps

Soohwan Song, Ki In Na, Wonpil Yu

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations

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.

Original languageEnglish
Title of host publicationICTC 2022 - 13th International Conference on Information and Communication Technology Convergence
Subtitle of host publicationAccelerating Digital Transformation with ICT Innovation
PublisherIEEE Computer Society
Pages181-183
Number of pages3
ISBN (Electronic)9781665499392
DOIs
StatePublished - 2022
Event13th International Conference on Information and Communication Technology Convergence, ICTC 2022 - Jeju Island, Korea, Republic of
Duration: 19 Oct 202221 Oct 2022

Publication series

NameInternational Conference on ICT Convergence
Volume2022-October
ISSN (Print)2162-1233
ISSN (Electronic)2162-1241

Conference

Conference13th International Conference on Information and Communication Technology Convergence, ICTC 2022
Country/TerritoryKorea, Republic of
CityJeju Island
Period19/10/2221/10/22

Keywords

  • logistics robots
  • multi-agent pathfinding
  • multi-robot system
  • topological map

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