Khái niệm cốt lõi
Optimizing passing orders for efficient multi-robot plan execution.
Tóm tắt
The content discusses a real-time rescheduling algorithm, Switchable-Edge Search (SES), for multi-robot plan execution. It addresses delays in agent execution, proposing an A*-style algorithm to find optimal passing orders. The paper introduces the concept of Switchable TPG (STPG) to modify precedence relationships, enhancing execution efficiency. Two variants of SES are evaluated through simulations, showing significant speed improvements over existing algorithms.
- Abstract introduces SES for optimal passing orders.
- Introduction highlights the importance of Multi-Agent Path Finding (MAPF).
- Proposal of STPG and SES for efficient rescheduling.
- Preliminaries define MAPF and MAPF solutions.
- Related Works discuss strategies for managing delays in MAPF.
- Temporal Plan Graph (TPG) explained as a representation of precedence relationships.
- Execution procedure detailed for TPG execution.
- Switchable TPG (STPG) introduced for flexible precedence modifications.
- Switchable Edge Search (SES) algorithm framework described.
- Experiment section outlines the efficiency and comparison of ESES and GSES.
- Comparison of ESES and GSES efficiency and cost improvement.
- Conclusion summarizes the benefits and efficiency of GSES for real-time replanning.
Thống kê
The best variant of SES takes less than 1 second for small- and medium-sized problems.
GSES runs consistently below 1 second on random and warehouse maps.
GSES is faster than ESES in runtime and more efficient in finding optimal solutions.
Trích dẫn
"Optimizing passing orders for efficient multi-robot plan execution."
"SES runs faster than existing replanning algorithms."
"GSES consistently below 1 second runtime on various maps."