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A message-passing algorithm for multi-agent trajectory planning [article]

Jose Bento, Nate Derbinsky, Javier Alonso-Mora, Jonathan Yedidia
2013 arXiv   pre-print
We also show that a specialization of our algorithm can be used for local motion planning by solving the problem of joint optimization in velocity space.  ...  We describe a novel approach for computing collision-free global trajectories for p agents with specified initial and final configurations, based on an improved version of the alternating direction method  ...  Supplementary material for "A message-passing algorithm for multi-agent trajectory planning" This document gives details on the message-passing algorithm we use and how to implement all minimizers described  ... 
arXiv:1311.4527v1 fatcat:uwdfmh2fvfcizcietbdzwtkbei

Decentralized path planning for multi-agent teams in complex environments using rapidly-exploring random trees

Vishnu R. Desaraju, Jonathan P. How
2011 2011 IEEE International Conference on Robotics and Automation  
This paper presents a novel approach to address the challenge of planning paths for multi-agent systems operating in complex environments.  ...  The algorithm developed, Decentralized Multi-Agent Rapidly-exploring Random Tree (DMA-RRT), is an extension of the Closed-loop RRT (CL-RRT) algorithm to the multi-agent case, retaining its ability to plan  ...  ACKNOWLEDGMENTS The authors would like to thank Brandon Luders and Georges Aoude for their contributions to this research effort.  ... 
doi:10.1109/icra.2011.5980392 dblp:conf/icra/DesarajuH11 fatcat:g4khiesdlnhobbozrkilk5uuqu

Multi-agent systems to help managing air traffic structure

Romaric Breil, Daniel Delahaye, Laurent Lapasset, Éric Féron, Christine Taylor, Sandip Roy
2018 Journal of Aerospace Operations  
Multi-agent systems have several advantages, including a good resilience when confronted with disruptive events.  ...  In order to reach this goal, a multi-agent system has been developed, in which aircraft cooperate to structure traffic.  ...  Algorithm In this multi-agent system, aircraft are agents exchanging ADS-B messages.  ... 
doi:10.3233/aop-170066 fatcat:nlj472feajdghfcjhz6ye2nrpe

A Distributed Protocol for Safe Real-Time Planning of Communicating Vehicles with Second-Order Dynamics

Kostas E. Bekris, Konstantinos I. Tsianos, Lydia E. Kavraki
2007 The Proceedings of First International Conference on Robot Communication and Coordination  
The algorithm is a novel integration of sampling-based motion planners with message-passing protocols for distributed constraint optimization.  ...  Each vehicle uses the motion planner to generate candidate feasible trajectories and the messagepassing protocol for selecting a safe and compatible trajectory.  ...  Plan Selection: Message-Passing Protocol Fig. 4 . 4 (left)A coordination graph for 10 vehicles.  ... 
doi:10.4108/icst.robocomm2007.2087 dblp:conf/robocomm/BekrisTK07 fatcat:eerlx3jo6zb7xkxi2hl3m5qspa

Asynchronous decentralized prioritized planning for coordination in multi-robot system

Michal Cap, Peter Novak, Martin Selecky, Jan Faigl, Jiff Vokffnek
2013 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  
However, the existing decentralized prioritized planning algorithm contains synchronization points that all the agents must be able to pass synchronously, which is impractical and inefficient for a real-world  ...  In this paper, the multi-robot motion coordination planning problem is addressed.  ...  A widely used decoupled scheme for the multi-robot motion planning that has been shown to be effective in practice [4] is prioritized planning [3] .  ... 
doi:10.1109/iros.2013.6696903 dblp:conf/iros/CapNSFV13 fatcat:lxiz3vlzdrh77mapzz2nrzjbju

Communication in Multi-Agent Reinforcement Learning: Intention Sharing

Woojun Kim, Jongeui Park, Youngchul Sung
2021 International Conference on Learning Representations  
Each agent compresses this imagined trajectory capturing its future action plan to generate its intention message for communication by applying an attention mechanism to learn the relative importance of  ...  The imagined trajectory is a simulated future trajectory of each agent based on the learned model of the environment dynamics and other agents and represents each agent's future action plan.  ...  Note that the imagined trajectory of each agent represents its future plan for the environment.  ... 
dblp:conf/iclr/KimPS21 fatcat:3ucudf64xngqxfgq3evbqpf7cy

Multi-agent systems for air traffic conflicts resolution by local speed regulation and departure delay

Romaric Breil, Daniel Delahaye, Laurent Lapasset, Eric Feron
2016 2016 IEEE/AIAA 35th Digital Avionics Systems Conference (DASC)  
In order to reach this goal, a multi-agent system has been developed.  ...  This algorithm was applied on realistic examples.  ...  Algorithm In this multi-agent system, aircraft are agents exchanging ADS-C messages containing estimated 4D trajectories.  ... 
doi:10.1109/dasc.2016.7778021 fatcat:l7tcww4dkfah3kcikn2tgr2dvm

Safe and Distributed Kinodynamic Replanning for Vehicular Networks

Kostas E. Bekris, Konstantinos I. Tsianos, Lydia E. Kavraki
2009 Journal on spesial topics in mobile networks and applications  
Each vehicle uses the motion planner to generate candidate feasible trajectories and the message-passing protocol for selecting a safe and compatible trajectory.  ...  The paper then progresses to extend this safety framework into a fully distributed communication protocol for real-time planning.  ...  Message-Passing Algorithm We describe here how the new message-passing approach can satisfy the safety conditions in a distributed way. The algorithm is provided in pseudo-code in Algorithm 3.  ... 
doi:10.1007/s11036-009-0152-y fatcat:qvylzkmu7ngsditspqueax6bqi

Distributed coordination for collision avoidance of multiple ships considering ship maneuverability

Shijie Li, Jialun Liu, Rudy R. Negenborn
2019 Ocean Engineering  
Over the past two decades, a number of methods have been proposed for solving maritime collision avoidance problems.  ...  To deal with the many-to-many collision avoidance problem, this paper proposes a distributed coordination strategy which consists of two phases: firstly, predictions of ship trajectories are made based  ...  The algorithm plans navigation paths for all encountering ships in a cooperative mode, from a multi-ship perspective.  ... 
doi:10.1016/j.oceaneng.2019.03.054 fatcat:vsxw3itbhjcbnn73z23ml3yjay

A multi-agent method for adaptive real-time train scheduling with conflict limitations

A.A. Belousov, A.A. Goryachev, P.O. Skobelev, M.E. Stepanov
2016 International Journal of Design & Nature and Ecodynamics  
The paper proposes a multi-agent method to creating an intelligent adaptive system of train real time scheduling with conflict limitations.  ...  The architecture of the multi-agent system consisting of two base planning subsystems is described.  ...  On this level, a train agent creates subtasks (operations) for passing a station limit or staying at a station for a certain amount of time.  ... 
doi:10.2495/dne-v11-n2-116-126 fatcat:xdtmnibq5jaljmsgairzphzjcu

Learning to Infer Belief Embedded Communication [article]

Guo Ye and Han Liu and Biswa Sengupta
2022 arXiv   pre-print
In multi-agent collaboration problems with communication, an agent's ability to encode their intention and interpret other agents' strategies is critical for planning their future actions.  ...  IEC contains a perception module for decoding other agents' intentions in response to their past actions.  ...  MADDPG: Multi-Agent Deep Deterministic Policy Gradient (Lowe et al., 2017) use trajectories of all agents to learn a centralized critic.  ... 
arXiv:2203.07832v1 fatcat:y465ql6abrhvflvffnwcx6w2fi

ACMICS: an agent communication model for interacting crowd simulation

Kurtulus Kullu, Uğur Güdükbay, Dinesh Manocha
2017 Autonomous Agents and Multi-Agent Systems  
ACMICS makes use of a simplified version of a message structure specification from the multi-agent systems community known as Foundation for Intelligent Physical Agents (FIPA) Agent Communication Language  ...  The underlying formulation is based on a message structure that corresponds to a simplified version of Foundation for Intelligent Physical Agents Agent Communication Language Message Structure Specification  ...  We would like to thank Sarah George from the University of North Carolina-Chapel Hill for proofreading the paper.  ... 
doi:10.1007/s10458-017-9366-8 fatcat:yoz7qhnbrzbxjbh6shvq3l4c54

Integration of Autonomous UAVs into Multi-agent Simulation

Martin Selecký, Tomáš Meiser
2012 Acta Polytechnica  
These multi-UAV scenarios are by their nature well suited to be modelled and simulated as multi-agent systems.  ...  In this paper we present solutions to the problems that we had to deal with in the process of integrating two hardware UAVs into an existing multi-agent simulation system with additional virtual UAVs,  ...  AgentFly Multi-Agent System AgentFly is a Java-based multi-agent system designed for simulation of air traffic and UAV missions (see Figure 1 ).  ... 
doaj:cec9ee8099294823aee738f508b890e9 fatcat:ek6zcw6ay5f7te3d4krj7nqiau

A Look at Motion Planning for Autonomous Vehicles at an Intersection [article]

Shravan Krishnan, Govind Aadithya R, Rahul Ramakrishnan, Vijay Arvindh, Sivanathan K
2018 arXiv   pre-print
To answer that question, we break down an intersection management into the different conundrums and scenarios involved in the trajectory planning and current approaches to solve them.  ...  We also try to answer the question of how to benchmark intersection management algorithms by providing some factors that impact autonomous navigation at intersection.  ...  An intersection is a multi-agent system with dynamic and static obstacles hence, it is pertinent to look at methods for planning trajectories for multi-agent systems.  ... 
arXiv:1806.07834v2 fatcat:ynjpkd4wsben5gru7lo26mdhru

PRACSYS: An Extensible Architecture for Composing Motion Controllers and Planners [chapter]

Andrew Kimmel, Andrew Dobson, Zakary Littlefield, Athanasios Krontiris, James Marble, Kostas E. Bekris
2012 Lecture Notes in Computer Science  
For instance, it is possible to compose many control layers over a physical system, to define multi-agent controllers that operate over many systems, to easily switch between different underlying controllers  ...  This paper describes a software infrastructure for developing controllers and planners for robotic systems, referred here as PRACSYS.  ...  Interaction The planning package communicates primarily with simulation. A planning node can send messages to the simulation such as computed plans for the agents.  ... 
doi:10.1007/978-3-642-34327-8_15 fatcat:qvpgdmm3lvdnbgjzvuoiga6do4
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