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A Decentralized Token-Based Negotiation Approach for Multi-Agent Path Finding

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Multi-Agent Systems (EUMAS 2021)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 12802))

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Abstract

This paper introduces a negotiation approach to solve the Multi-Agent Path Finding problem. The approach aims to achieve a good trade-off between the privacy of the agents and the effectiveness of solutions. Accordingly, a token-based bilateral negotiation protocol and a compatible negotiation strategy are presented. The proposed approach is evaluated in a variety of scenarios by comparing it with state-of-the-art centralized approaches such as Conflict Based Search and its variant. The experimental results showed that the proposed approach can find conflict-free path solutions with a higher success rate, especially when the search space is large and high-density compared to centralized approaches while the gap between path cost differences is reasonably low. The proposed approach enables agents to have their autonomy; thus, it is convenient for MAPF problems involving self-interested agents.

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Author information

Authors and Affiliations

  1. Computer Science, Özyeğin University, Istanbul, Turkey

    Cihan Eran, M. Onur Keskin, Furkan Cantürk & Reyhan Aydoğan

  2. Interactive Intelligence, TU Delft, Delft, The Netherlands

    Reyhan Aydoğan

Authors
  1. Cihan Eran
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  2. M. Onur Keskin
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  3. Furkan Cantürk
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  4. Reyhan Aydoğan
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Corresponding author

Correspondence to Cihan Eran .

Editor information

Editors and Affiliations

  1. Bar-Ilan University, Ramat Gan, Israel

    Ariel Rosenfeld

  2. Ben-Gurion University of the Negev, Be’er Sheva, Israel

    Nimrod Talmon

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Eran, C., Keskin, M.O., Cantürk, F., Aydoğan, R. (2021). A Decentralized Token-Based Negotiation Approach for Multi-Agent Path Finding. In: Rosenfeld, A., Talmon, N. (eds) Multi-Agent Systems. EUMAS 2021. Lecture Notes in Computer Science(), vol 12802. Springer, Cham. https://doi.org/10.1007/978-3-030-82254-5_16

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  • DOI: https://doi.org/10.1007/978-3-030-82254-5_16

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-82253-8

  • Online ISBN: 978-3-030-82254-5

  • eBook Packages: Computer ScienceComputer Science (R0)

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