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• W4285178132 abstract "We address a challenging multi-agent pathfinding (MAPF) problem for hundreds of agents moving on a 2D roadmap with continuous time. Despite its known potential for producing better solutions compared to typical grid and discrete-time cases, few approaches have been established to solve this problem due to the intractability of collision checks on a large scale. In this work, we propose Prioritized Safe-Interval Path Planning with Continuous-Time Conflicts (PSIPP/CTC) that extends a scalable prioritized planning algorithm to work on the 2D roadmap and continuous-time setup by alleviating intensive collision checks. Our approach involves a novel concept named Continuous-Time Conflict (CTC), which describes a pair among vertices and edges associated with continuous-time intervals within which collisions can happen between agents. We pre-compute CTCs using geometric neighbor-search and sweeping techniques and annotate roadmaps with the CTCs just once before planning starts. Doing so allows us to efficiently enumerate collision-free time intervals for all vertices and edges and find each agent's path with continuous time in prioritized planning. Extensive experimental evaluations demonstrate that PSIPP/CTC significantly outperforms existing methods in terms of planning success rate and runtime while maintaining an acceptable solution quality. As a proof of concept, we also confirmed the effectiveness of the proposed approach on a physics simulation with differential wheeled robots." @default.
• W4285178132 created "2022-07-14" @default.
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• W4285178132 date "2022-10-01" @default.
• W4285178132 modified "2023-09-30" @default.
• W4285178132 title "Prioritized Safe Interval Path Planning for Multi-Agent Pathfinding With Continuous Time on 2D Roadmaps" @default.
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• W4285178132 doi "https://doi.org/10.1109/lra.2022.3187265" @default.
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