Multi-agent Path Finding in Continuous Environment
<|reference_start|>Multi-agent Path Finding in Continuous Environment: We address a variant of multi-agent path finding in continuous environment (CE-MAPF), where agents move along sets of smooth curves. Collisions between agents are resolved via avoidance in the space domain. A new Continuous Environment Conflict-Based Search (CE-CBS) algorithm is proposed in this work. CE-CBS combines conflict-based search (CBS) for the high-level search framework with RRT* for low-level path planning. The CE-CBS algorithm is tested under various settings on diverse CE-MAPF instances. Experimental results show that CE-CBS is competitive w.r.t. to other algorithms that consider continuous aspect in MAPF such as MAPF with continuous time.<|reference_end|>
@article{janovská2024multi-agent,
    title={Multi-agent Path Finding in Continuous Environment},
    author={Krist'yna Janovsk'a and Pavel Surynek},
    journal={arXiv preprint arXiv:2409.10680},
    year={2024},
    archivePrefix={arXiv},
    eprint={2409.10680},
    primaryClass={cs.MA cs.AI}
}