| Presentation | 2022-12-21 Distributed Action Planning and Execution with fluctuated movement for Iterative Multi-agent Path Planning Yuki Miyashita, Tomoki Yamauchi, Toshiharu Sugawara, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | This study proposes a distributed planning method with asynchronous execution for the multi-agent pick up and delivery (MAPD) problem in situations where fluctuations in the movement speeds exist. Many studies on MAPD problems have been conducted but usually assume specially designed environments with many detours for easy collision avoidance. In contrast, our study assumes an ad hoc environments, such as a construction site. Moreover, the robot’s movement speed may fluctuate due to weather and road surface conditions; thus, making them unable to proceed in the time as scheduled. These fluctuations significantly affect multi-agent systems, because a plan modification can cause other conflicts and may spread in a cascade. Our proposed method is suitable for more realistic MAPD problem in which agents’ actions are fluctuated and working locations are located flexibly. We experimentally confirmed that our method could be used in such environment without collisions nor deadlocks. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Multi-agent path planning, / Multi-agent pickup and delivery prob- lem / Distributed robotics planning |
| Paper # | AI2022-46 |
| Date of Issue | 2022-12-14 (AI) |
| Conference Information | |
| Committee | AI |
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| Conference Date | 2022/12/21(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Chair | Yuichi Sei(Univ. of Electro-Comm.) |
| Vice Chair | Yuko Sakurai(AIST) / Tadachika Ozono(Nagoya Inst. of Tech.) |
| Secretary | Yuko Sakurai(Tokyo Univ. of Agriculture and Technology) / Tadachika Ozono(Toho Univ.) |
| Assistant | Kazutaka Matsuzaki(Chuo Univ.) |
| Paper Information | |
| Registration To | Technical Committee on Artificial Intelligence and Knowledge-Based Processing |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Distributed Action Planning and Execution with fluctuated movement for Iterative Multi-agent Path Planning |
| Sub Title (in English) | |
| Keyword(1) | Multi-agent path planning, |
| Keyword(2) | Multi-agent pickup and delivery prob- lem |
| Keyword(3) | Distributed robotics planning |
| 1st Author's Name | Yuki Miyashita |
| 1st Author's Affiliation | Shimizu corporation(Shimizu Corp.) |
| 2nd Author's Name | Tomoki Yamauchi |
| 2nd Author's Affiliation | Waseda University(Waseda Univ) |
| 3rd Author's Name | Toshiharu Sugawara |
| 3rd Author's Affiliation | Waseda University(Waseda Univ) |
| Date | 2022-12-21 |
| Paper # | AI2022-46 |
| Volume (vol) | vol.122 |
| Number (no) | AI-322 |
| Page | pp.pp.74-79(AI), |
| #Pages | 6 |
| Date of Issue | 2022-12-14 (AI) |