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Proximal operators for multi-agent path planning [article]

José Bento, Nate Derbinsky, Charles Mathy, Jonathan S. Yedidia
2015 arXiv   pre-print
We address the problem of planning collision-free paths for multiple agents using optimization methods known as proximal algorithms.  ...  operators, each ensuring that paths satisfy a desired property.  ...  Appendix for "Proximal Operators for Multi-Agent Path Planning" A A comment on the impact of the assumption of piece-wise linear paths in practice A direct application of the approach of Bento et al.  ... 
arXiv:1504.01783v1 fatcat:teyhhwgv4nfedjwipv73hyclc4

Fuzzy Support Vector Machine-based Multi-agent Optimal Path

Gireesh Kumar, K. Poornaselvan, M. Sethumadhavan
2010 Defence Science Journal  
In the existing system, the mobile robot navigates in a known environment on a predefined path.  ...  The decisions are taken at each step for the mobile robot to attain the goal position without collision.  ...  Multi-agent Optimal Path Planning Problems of multi-agent robot systems control have got significance 4 .  ... 
doi:10.14429/dsj.60.496 fatcat:ocbox4jvsvgwdljvodhsltsxxm


Nosan Kwak, Sanghoon Ji, Beomhee Lee
2005 IFAC Proceedings Volumes  
The fuzzy rule base has been developed employing genetic algorithms as an approach to dynamic path planning of autonomous multi-agents in unknown environments.  ...  A fuzzy rule base is proposed to navigate multi-agents from initial positions to target positions in unknown environments.  ...  ACKNOWLEDGMENT This research was performed for the Intelligent Robotics Development Program which is one of the 21st Century Frontier R&D Programs funded by the Ministry of Science and Technology of Korea  ... 
doi:10.3182/20050703-6-cz-1902.01364 fatcat:k5wl7p5brzdpjokkzpebvwewfi

Collaborative multi-agent systems for construction equipment based on real-time field data capturing

Cheng Zhang, Amin Hammad, Homam Bahnassi
2009 Journal of Information Technology in Construction  
This paper proposes collaborative multi-agent systems for real-time monitoring and planning on construction sites.  ...  A multi-agent system framework is discussed to support construction equipment operators by using agents, wireless communication, and field data capturing technologies.  ...  , so path planning becomes a one-time off-line operation.  ... 
dblp:journals/itcon/ZhangHB09 fatcat:sfozyaeuwbhnphyw5tka7cqaeq

Real-time Path Planning for Virtual Agents in Dynamic Environments

Avneesh Sud, Erik Andersen, Sean Curtis, Ming Lin, Dinesh Manocha
2007 2007 IEEE Virtual Reality Conference  
The MaNG is used to perform route planning and proximity computations for each agent in real time.  ...  We present a novel approach for real-time path planning of multiple virtual agents in complex dynamic scenes.  ...  Multi-agent Navigation Graph (MaNG) For multi agent planning, each moving agent represents a dynamic obstacle for the remaining agents.  ... 
doi:10.1109/vr.2007.352468 dblp:conf/vr/SudACLM07 fatcat:i75r4txozjacpj2737nu6qq35m

A Multi-agent System for Dynamic Path Planning

Marcelo Cardoso Silva, Ana Cristina Bicharra Garcia, Aura Conci
2010 2010 Second Brazilian Workshop on Social Simulation  
Using Multi-agent Systems to solve this problem dynamically seems to be a good approach to plan escape routes in real time, given new information about the environment when modification are detected.  ...  This research exposes this approach, implementing a multi agent communication system in a 3D virtual environment.  ...  Different factors influence agent decisions. An important issue for future works is studying the reputation of the agents.  ... 
doi:10.1109/bwss.2010.20 fatcat:o3m7ka4up5cajena3e5toafl6m

Real-time path planning for virtual agents in dynamic environments

Avneesh Sud, Erik Andersen, Sean Curtis, Ming Lin, Dinesh Manocha
2008 ACM SIGGRAPH 2008 classes on - SIGGRAPH '08  
The MaNG is used to perform route planning and proximity computations for each agent in real time.  ...  We present a novel approach for real-time path planning of multiple virtual agents in complex dynamic scenes.  ...  Multi-agent Navigation Graph (MaNG) For multi agent planning, each moving agent represents a dynamic obstacle for the remaining agents.  ... 
doi:10.1145/1401132.1401206 dblp:conf/siggraph/SudACLM08 fatcat:ro7omwqf3bawri7uyz2u6f5e3i

Cooperative Task and Motion Planning for Multi-Arm Assembly Systems [article]

Jingkai Chen, Jiaoyang Li, Yijiang Huang, Caelan Garrett, Dawei Sun, Chuchu Fan, Andreas Hofmann, Caitlin Mueller, Sven Koenig, Brian C. Williams
2022 arXiv   pre-print
and, at the low level, builds on a state-of-the-art algorithm for Multi-Agent Path Finding to plan collision-free robot motions that realize this abstract plan.  ...  However, effectively planning for these systems in a manner that ensures each robot is simultaneously productive, and not idle, is challenging due to (1) the close proximity that the robots must operate  ...  We present a task and motion planning framework that jointly plans safe, low-makespan plans for multiple, possibly heterogeneous robot arms to assemble complex structures.  ... 
arXiv:2203.02475v1 fatcat:j24oby2adjak5fciywnuoxtr6a

VWA: ViewpointS Web Application to Assess Collective Knowledge Building [chapter]

Philippe Lemoisson, Clarel M. H. Rakotondrahaja, Aroniaina Safidy Précieux Andriamialison, Harish A. Sankar, Stefano A. Cerri
2019 Lecture Notes in Computer Science  
We expose the mechanism underlying the reinforcement along the knowledge paths and introduce a new measure called Multi Paths Proximity inspired from the parallel neural circuits in the brain.  ...  Our approach relies on a bipartite graph of resources (agents, documents, topics) and time stamped "viewpoints" emitted by human or artificial agents.  ...  She does not make plans for the future; she makes plans for the past.'  ... 
doi:10.1007/978-3-030-28377-3_1 fatcat:l6nzs5n6n5enferiw7k2d3b7sy


Akash Agrawal, Sung Jun Won, Tushar Sharma, Mayuri Deshpande, Christopher McComb
2021 Proceedings of the Design Society  
We specifically propose a multi-agent framework involving mobile robots, machines, humans.  ...  However, many IM systems are created ad hoc, which limits the potential for generalizable design principles and operational guidelines.  ...  In other work, a multi-agent deep deterministic policy gradient algorithm has shown promise for the integrated target assignment and path planning of aerial vehicles (Qie et al., 2019) .  ... 
doi:10.1017/pds.2021.17 fatcat:bjoy4jmoaffwvdundqzi3b4e5e

Experimental Evaluation of a Hierarchical Operating Framework for Ground Robots in Agriculture [chapter]

Stuart Eiffert, Nathan D. Wallace, He Kong, Navid Pirmarzdashti, Salah Sukkarieh
2021 Distributed Autonomous Robotic Systems  
For mobile robots to be effectively applied to real world unstructured environments -- such as large scale farming -- they require the ability to generate adaptive plans that account both for limited onboard  ...  We demonstrate the ability of the framework to navigate an unstructured and dynamic environment in an effective manner, validating its use for long-term deployment in large scale farming, for tasks such  ...  Mode handover is dependent both on proximity of agents to the robot and to the prior planned path, resulting in the overlap shown.  ... 
doi:10.1007/978-3-030-71151-1_14 fatcat:6edtplsdxfgyvjwde26lfxhlgi

Towards the smart construction site: Improving productivity and safety of construction projects using multi-agent systems, real-time simulation and automated machine control

Amin Hammad, Faridaddin Vahdatikhaki, Cheng Zhang, Mohammed Mawlana, Ahmad Doriani
2012 Proceedings Title: Proceedings of the 2012 Winter Simulation Conference (WSC)  
of heavy construction using advanced agent technology and multi-agent systems, real-time simulation, and automated machine control. 978-1-4673-4780-8/12/$31.00 ©2012 IEEE 3687 978-1-4673-4782-2/12/$31.00  ...  Addressing these issues requires robust mechanisms for on-site real-time data capturing, information processing and decision-making.  ...  Siman Abourizk, Jamal Bentahar, Khashayar Khorasani, and Yasser Mohammad for their feedback on an earlier version of this paper submitted as a part of a research proposal.  ... 
doi:10.1109/wsc.2012.6465160 dblp:conf/wsc/HammadVZMD12 fatcat:tovqaeiebzcw7l56kijgoe6j2y

Dynamic path finding method and obstacle avoidance for automated guided vehicle navigation in Industry 4.0

Yigit Can Dundar
2021 Procedia Computer Science  
Path finding, or path planning, is a fundamental requirement for AGVs to work effectively [6].  ...  Path Planning and Collision Avoidance Regime for a Multi-Agent System in Industrial Robotics. Machines. Technologies. Materials. 11, 519–522. [6] Qing, G., Zheng, Z., Yue, X., 2017.  ... 
doi:10.1016/j.procs.2021.09.169 fatcat:4owjdpdjezhbho2sxrdakcn4gm

On connectivity preservation in mobile wireless multi-agent/node mesh networks

Christopher Edwards, Prathyush P. Menon, Yuri Shtessel, Alexander Bordetsky
2013 2013 American Control Conference  
The paper considers the development of a mission planning system for a so-called 'non-cooperative' multi-agent network.  ...  These way-points are then converted into continuous time paths for the relay agents to follow.  ...  The paper has proposed a mission planning system for a so-called 'non-cooperative' multi-agent network comprising two classes of agent: primary mission agents and relay agents.  ... 
doi:10.1109/acc.2013.6580760 fatcat:ertelh6cfnhtve22rhorpkctp4

Pre-Flight Conflict Detection and Resolution for UAV Integration in Shared Airspace: Sendai 2030 Model Case

Florence Ho, Ruben Geraldes, Artur Goncalves, Bastien Rigault, Atsushi Oosedo, Marc Cavazza, Helmut Prendinger
2019 IEEE Access  
Therefore, we propose an airspace reservation method based on 4DT (3D plus time Trajectories) and map the Pre-Flight CDR problem to a Multi-Agent Path Finding (MAPF) problem.  ...  INDEX TERMS Unmanned aircraft system traffic management (UTM), pre-flight conflict detection and resolution (CDR), multi-agent path finding (MAPF), air traffic complexity metrics.  ...  MULTI-AGENT PATH FINDING The Multi-Agent Path Finding (MAPF) problem has been mainly studied without real world deployment considerations, with many works proposing approaches to solve instances for 2D  ... 
doi:10.1109/access.2019.2954987 fatcat:w6vju55gtnfqxg3tiw2cmidgb4
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