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Resolving Spatial-Time Conflicts In A Set Of Any-angle Or Angle-constrained Grid Paths

We study the multi-agent path finding problem (MAPF) for a group of agents which are allowed to move into arbitrary directions on a 2D square grid. We focus on centralized conflict resolution for independently computed plans. We propose an algorithm that eliminates conflicts by using local re-planning and introducing time offsets to the execution of paths by different agents. Experimental results show that the algorithm can find high quality conflict-free solutions at low computational cost.

preprint2016arXivOpen access
Konstantin YakovlevAnton Andreychuk
Artificial Intelligence
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Open access2 authors1 topic
Imported metadata coverageMissing code, dataset, citation and institution fields are tracked without dominating the paper.Details
Citations: 0Reviews: 0Saves: 0Code: not linkedDataset: not linkedInstitutions: 0

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Konstantin YakovlevAnton Andreychuk

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