Multi-agent Path Planning in Known Dynamic Environments

  • Aniello Murano
  • Giuseppe Perelli
  • Sasha Rubin
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9387)


We consider the problem of planning paths of multiple agents in a dynamic but predictable environment. Typical scenarios are evacuation, reconfiguration, and containment. We present a novel representation of abstract path-planning problems in which the stationary environment is explicitly coded as a graph (called the arena) while the dynamic environment is treated as just another agent. The complexity of planning using this representation is pspace-complete. The arena complexity (i.e., the complexity of the planning problem in which the graph is the only input, in particular, the number of agents is fixed) is np-hard. Thus, we provide structural restrictions that put the arena complexity of the planning problem into ptime(for any fixed number of agents). The importance of our work is that these structural conditions (and hence the complexity results) do not depend on graph-theoretic properties of the arena (such as clique- or tree-width), but rather on the abilities of the agents.


Model Check Planning Problem Path Planning Dynamic Environment Mobile Agent 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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© Springer International Publishing Switzerland 2015

Authors and Affiliations

  1. 1.Università di Napoli “Federico II”NaplesItaly
  2. 2.University of OxfordOxfordEngland

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