Abstract
This letter explores the vein trait of the structural formation task and extracts four typical parallel-straight vein structures for generating coalitions. Then, the Vein-Based Multi-Agent Pattern Formation (VB-MAPF) method is proposed to resolve task and path planning on coalitions. Besides, the presented rectifying operation guarantees the optimal coalition structure, and the vein-based pruned conflict-based search reduces the searching space for collision-free path planning. Compared with typical solvers, the inter-performance and the intra-performance orders show the efficiency and scalability of the VB-MAPF method in terms of makespan, average distance, and maximum distance on dozens of coalitions and thousands of agents.
| Original language | English |
|---|---|
| Pages (from-to) | 12379-12386 |
| Number of pages | 8 |
| Journal | IEEE Robotics and Automation Letters |
| Volume | 7 |
| Issue number | 4 |
| DOIs | |
| State | Published - 1 Oct 2022 |
Keywords
- Coalition formation
- multi-agent system
- path planning
- task planning
- vein structures
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