Informatics Colloquium 7.5. Multi-Agent Path Finding on Real Robots
Informatics Colloquium 7. 5. 2019, 14:00 posluchárna D2
prof. RNDr. Roman Barták, Ph.D., MFF UK
Multi-Agent Path Finding on Real Robots
Abstract: Multi-agent path finding (MAPF) deals with the problem of finding a
collision-free path for a set of agents (robots). An abstract model with a graph
describing the environment and agents moving between the nodes of the graph has
been proposed. This model is widely accepted by the MAPF community, and the
majority of MAPF algorithms rely on this model. In this talk, we argue that the
model may not be appropriate when the plans are to be executed on real robots.
We provide some empirical evidence that abstract plans deviate from real plans
executed on robots and we compare several variants of abstract models. The talk
motivates further research on the abstraction of problems concerning the
applicability of solutions in practice.