Path Finding for the Coalition of Co-operative Agents Acting in the Environment with Destructible Obstacles

The problem of planning a set of paths for the coalition of robots (agents) with different capabilities is considered in the paper. Some agents can modify the environment by destructing the obstacles thus allowing the other ones to shorten their paths to the goal. As a result the mutual solution of...

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Bibliographic Details
Published inInteractive Collaborative Robotics Vol. 11097; pp. 13 - 22
Main Authors Andreychuk, Anton, Yakovlev, Konstantin
Format Book Chapter
LanguageEnglish
Published Switzerland Springer International Publishing AG 01.01.2018
Springer International Publishing
SeriesLecture Notes in Computer Science
Subjects
Co-operative agents
Co-operative path planning
Coalition of agents
Grid
Multi-agent systems
Path finding
Path planning
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ISBN9783319995816
3319995812
ISSN0302-9743
1611-3349
DOI10.1007/978-3-319-99582-3_2

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Summary:The problem of planning a set of paths for the coalition of robots (agents) with different capabilities is considered in the paper. Some agents can modify the environment by destructing the obstacles thus allowing the other ones to shorten their paths to the goal. As a result the mutual solution of lower cost, e.g. time to completion, may be acquired. We suggest an original procedure to identify the obstacles for further removal that can be embedded into almost any heuristic search planner (we use Theta*) and evaluate it empirically. Results of the evaluation show that time-to-complete the mission can be decreased up to 9–12 % by utilizing the proposed technique.
ISBN:9783319995816
3319995812
ISSN:0302-9743
1611-3349
DOI:10.1007/978-3-319-99582-3_2