ECE6504 Autonomous Coordination - Presentation One

Centralized methods for Multi-Agent Path Finding

Implementation of Multi-Agent Path Finding in a gridworld simulation.

• Find independent paths for each agent without considering other agents

  • Uses space-time A* for low-level search.

• Make reservations in a space-time reservation table

• Check all paths against the table for conflicts with other agents.

• When a conflict is found, add a constraint to the agent's low-level path planning and re-plan.

• To avoid agents passing right through each other, currently each agent makes multiple reservations in the reservation table.

• This sometimes causes a noticeable delay, where one or more agents may end up waiting in their location although a path is clearly available.

• To fix this, I need to be able to add two different sorts of constraints as in the original Conflict Based Search paper - for vertext collisions and edge collisions.

• Link to YouTube video: https://youtu.be/b5KMm729b_4

--
The A* priority queue is from this gridworld simluator on GitHub: https://github.com/TheLastBanana