论文标题
多个移动代理的时间无关计划
Time-Independent Planning for Multiple Moving Agents
论文作者
论文摘要
典型的多代理路径查找（MAPF）求解器假设代理人同步移动，从而忽略了定时假设中的现实差距，例如，由于异步移动的不完善的执行而造成的延迟。到目前为止，两项政策强大执行MAPF计划作为输入：通过强迫代理人同步或执行计划，同时保留时间依赖性。本文提出了一种替代方法，称为时间无关计划，既是在线又分发的。我们将现实表示为一种过渡系统，该系统根据代理的原子动作更改配置，并使用它来生成时间无关的时间表。在模拟环境中具有随机延迟的经验结果支持我们提议的有效性。
Typical Multi-agent Path Finding (MAPF) solvers assume that agents move synchronously, thus neglecting the reality gap in timing assumptions, e.g., delays caused by an imperfect execution of asynchronous moves. So far, two policies enforce a robust execution of MAPF plans taken as input: either by forcing agents to synchronize or by executing plans while preserving temporal dependencies. This paper proposes an alternative approach, called time-independent planning, which is both online and distributed. We represent reality as a transition system that changes configurations according to atomic actions of agents, and use it to generate a time-independent schedule. Empirical results in a simulated environment with stochastic delays of agents' moves support the validity of our proposal.
