Multi-robot Cooperative Pathfinding: A Decentralized Approach
When robots perform teamwork in a shared workspace, they might be confronted with the risk of blocking each other’s ways, which will result in conflicts or interference among the robots. How to plan collision-free paths for all the robots is the major challenge issue in the multi-robot cooperative pathfinding problem, in which each robot has to navigate from its starting location to the destination while keeping avoiding stationary obstacles as well as its teammates. In this paper, we present a novel fully decentralized approach to this problem. Our approach allows the robots to make real-time responses to the dynamic environment and can resolve a set of benchmark deadlock situations subject to complex spatial constraints in the robots’ workspace. When confronted with conflicting situations, robots can employ waiting, dodging, retreating and turning-head strategies to make local adjustments. In addition, experimental results show that our proposed approach provides an efficient and competitive solution to this problem.
KeywordsCooperative pathfinding coordination collision avoidance
Unable to display preview. Download preview PDF.
- 1.Kaminka, G.A.: Autonomous agents research in robotics: A report from the trenches. In: 2012 AAAI Spring Symposium Series (2012)Google Scholar
- 2.Standley, T., Korf, R.: Complete algorithms for cooperative pathfinding problems. In: Proceedings of the Twenty-Second International Joint Conference on Artificial Intelligence, pp. 668–673 (2011)Google Scholar
- 3.Surynek, P.: An optimization variant of multi-robot path planning is intractable. In: AAAI (2010)Google Scholar
- 5.Van Den Berg, J.P., Overmars, M.H.: Prioritized motion planning for multiple robots. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 430–435 (2005)Google Scholar
- 6.Luna, R., Bekris, K.E.: Efficient and complete centralized multi-robot path planning. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3268–3275. IEEE (2011)Google Scholar
- 7.de Wilde, B., ter Mors, A.W., Witteveen, C.: Push and rotate: cooperative multi-agent path planning. In: Proceedings of the Twelfth International Conference on Autonomous Agents and Multiagent Systems, pp. 87–94 (2013)Google Scholar
- 9.Parker, L.E.: Current state of the art in distributed autonomous mobile robotics. In: Distributed Autonomous Robotic Systems 4, pp. 3–12. Springer (2000)Google Scholar
- 10.Silver, D.: Cooperative pathfinding. In: The First Conference on Artificial Intelligence and Interactive Digital Entertainment (AIIDE), pp. 117–122 (2005)Google Scholar
- 15.Zuluaga, M., Vaughan, R.: Reducing spatial interference in robot teams by local-investment aggression. In: IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS), pp. 2798–2805 (2005)Google Scholar
- 16.Dresner, K., Stone, P.: Multiagent traffic management: a reservation-based intersection control mechanism. In: Proceedings of the Third International Joint Conference on Autonomous Agents and Multiagent Systems, pp. 530–537 (2004)Google Scholar
- 17.Wang, K.H.C., Botea, A.: Fast and memory-efficient multi-agent pathfinding. In: International Conference on Automated Planning and Scheduling (ICAPS), pp. 380–387 (2008)Google Scholar
- 19.Hindriks, K.: The goal agent programming language (2013), http://ii.tudelft.nl/trac/goal