Corridor Occupancy-Based Multi-Agent Pathfinding in Topological Maps

Soohwan Song; Ki In Na; Wonpil Yu

doi:10.1109/ICTC55196.2022.9952848

Corridor Occupancy-Based Multi-Agent Pathfinding in Topological Maps

Soohwan Song, Ki In Na, Wonpil Yu

Dept. of Mechanical System and Design Engineering

Electronics and Telecommunications Research Institute

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

This study investigates the multi-agent pathfinding (MAPF) problem in a topological map consisting only of narrow corridors. When two or more robots move in a corridor, general MAPF algorithms determine the optimal corridor entry order to plan collision-free paths. However, depending on the width of a corridor, safety problems may occur if two or more robots navigate the corridor simultaneously. To ensure the safety of robot navigation, we propose a new MAPF method that prevents more than two robots from passing in the same corridor. This method plans multi-agent paths by assigning a spatialized constraint to a corridor entrance. The constraint allows only one robot to occupy one corridor.

Original language	English
Title of host publication	ICTC 2022 - 13th International Conference on Information and Communication Technology Convergence
Subtitle of host publication	Accelerating Digital Transformation with ICT Innovation
Publisher	IEEE Computer Society
Pages	181-183
Number of pages	3
ISBN (Electronic)	9781665499392
DOIs	https://doi.org/10.1109/ICTC55196.2022.9952848
State	Published - 2022
Event	13th International Conference on Information and Communication Technology Convergence, ICTC 2022 - Jeju Island, Korea, Republic of Duration: 19 Oct 2022 → 21 Oct 2022

Publication series

Name	International Conference on ICT Convergence
Volume	2022-October
ISSN (Print)	2162-1233
ISSN (Electronic)	2162-1241

Conference

Conference	13th International Conference on Information and Communication Technology Convergence, ICTC 2022
Country/Territory	Korea, Republic of
City	Jeju Island
Period	19/10/22 → 21/10/22

Keywords

logistics robots
multi-agent pathfinding
multi-robot system
topological map

Access to Document

10.1109/ICTC55196.2022.9952848

Cite this

Song, S., Na, K. I., & Yu, W. (2022). Corridor Occupancy-Based Multi-Agent Pathfinding in Topological Maps. In ICTC 2022 - 13th International Conference on Information and Communication Technology Convergence: Accelerating Digital Transformation with ICT Innovation (pp. 181-183). (International Conference on ICT Convergence; Vol. 2022-October). IEEE Computer Society. https://doi.org/10.1109/ICTC55196.2022.9952848

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title = "Corridor Occupancy-Based Multi-Agent Pathfinding in Topological Maps",

abstract = "This study investigates the multi-agent pathfinding (MAPF) problem in a topological map consisting only of narrow corridors. When two or more robots move in a corridor, general MAPF algorithms determine the optimal corridor entry order to plan collision-free paths. However, depending on the width of a corridor, safety problems may occur if two or more robots navigate the corridor simultaneously. To ensure the safety of robot navigation, we propose a new MAPF method that prevents more than two robots from passing in the same corridor. This method plans multi-agent paths by assigning a spatialized constraint to a corridor entrance. The constraint allows only one robot to occupy one corridor.",

keywords = "logistics robots, multi-agent pathfinding, multi-robot system, topological map",

author = "Soohwan Song and Na, \{Ki In\} and Wonpil Yu",

note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 13th International Conference on Information and Communication Technology Convergence, ICTC 2022 ; Conference date: 19-10-2022 Through 21-10-2022",

year = "2022",

doi = "10.1109/ICTC55196.2022.9952848",

language = "English",

series = "International Conference on ICT Convergence",

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Song, S, Na, KI & Yu, W 2022, Corridor Occupancy-Based Multi-Agent Pathfinding in Topological Maps. in ICTC 2022 - 13th International Conference on Information and Communication Technology Convergence: Accelerating Digital Transformation with ICT Innovation. International Conference on ICT Convergence, vol. 2022-October, IEEE Computer Society, pp. 181-183, 13th International Conference on Information and Communication Technology Convergence, ICTC 2022, Jeju Island, Korea, Republic of, 19/10/22. https://doi.org/10.1109/ICTC55196.2022.9952848

Corridor Occupancy-Based Multi-Agent Pathfinding in Topological Maps. / Song, Soohwan; Na, Ki In; Yu, Wonpil.
ICTC 2022 - 13th International Conference on Information and Communication Technology Convergence: Accelerating Digital Transformation with ICT Innovation. IEEE Computer Society, 2022. p. 181-183 (International Conference on ICT Convergence; Vol. 2022-October).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Song, Soohwan

AU - Na, Ki In

AU - Yu, Wonpil

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N2 - This study investigates the multi-agent pathfinding (MAPF) problem in a topological map consisting only of narrow corridors. When two or more robots move in a corridor, general MAPF algorithms determine the optimal corridor entry order to plan collision-free paths. However, depending on the width of a corridor, safety problems may occur if two or more robots navigate the corridor simultaneously. To ensure the safety of robot navigation, we propose a new MAPF method that prevents more than two robots from passing in the same corridor. This method plans multi-agent paths by assigning a spatialized constraint to a corridor entrance. The constraint allows only one robot to occupy one corridor.

AB - This study investigates the multi-agent pathfinding (MAPF) problem in a topological map consisting only of narrow corridors. When two or more robots move in a corridor, general MAPF algorithms determine the optimal corridor entry order to plan collision-free paths. However, depending on the width of a corridor, safety problems may occur if two or more robots navigate the corridor simultaneously. To ensure the safety of robot navigation, we propose a new MAPF method that prevents more than two robots from passing in the same corridor. This method plans multi-agent paths by assigning a spatialized constraint to a corridor entrance. The constraint allows only one robot to occupy one corridor.

KW - logistics robots

KW - multi-agent pathfinding

KW - multi-robot system

KW - topological map

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BT - ICTC 2022 - 13th International Conference on Information and Communication Technology Convergence

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Song S, Na KI, Yu W. Corridor Occupancy-Based Multi-Agent Pathfinding in Topological Maps. In ICTC 2022 - 13th International Conference on Information and Communication Technology Convergence: Accelerating Digital Transformation with ICT Innovation. IEEE Computer Society. 2022. p. 181-183. (International Conference on ICT Convergence). doi: 10.1109/ICTC55196.2022.9952848

Corridor Occupancy-Based Multi-Agent Pathfinding in Topological Maps

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