论文标题
基于冲突的搜索连接的多代理路径查找
Conflict-Based Search for Connected Multi-Agent Path Finding
论文作者
论文摘要
我们研究了多代理路径发现问题（MAPF）的变体，其中要求代理保持彼此连接并与指定的基础连接。此问题在搜索和救援任务中具有应用程序，其中必须由人类操作员监视整个执行。我们重新访问以MAPF知名的基于冲突的搜索算法，并定义一个变体，其中冲突是由断开连接而不是碰撞引起的。我们研究优化，并给出实验结果，在这些结果中我们将算法与文献进行了比较。
We study a variant of the multi-agent path finding problem (MAPF) in which agents are required to remain connected to each other and to a designated base. This problem has applications in search and rescue missions where the entire execution must be monitored by a human operator. We re-visit the conflict-based search algorithm known for MAPF, and define a variant where conflicts arise from disconnections rather than collisions. We study optimizations, and give experimental results in which we compare our algorithms with the literature.
