Multi-agent pathfinding with discrete speeds - and its application for vehicle road networks
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Typ
Examensarbete för masterexamen
Program
Publicerad
2020
Författare
Gerdin, Johan
Modellbyggare
Tidskriftstitel
ISSN
Volymtitel
Utgivare
Sammanfattning
This work contributes to the multi-agent path-finding problem (MAPF) by extending existing algorithms
with optimal and efficient routing for roads with multiple lanes and intersections. It also considers the
continuous case, where agents are forbidden from performing actions during a non-discrete interval of time.
Further, a method to plan for the speed of agents is introduced. In order to create a strong base for this
problem, rigorous mathematical models are defined and proved to have properties of both completeness and
optimality. Experiments are used to validate the abstract models.
Beskrivning
Ämne/nyckelord
Multi-agent path-finding , kinematic constraints , speed