/123 10 目的関数 length: k ring makespan: k+1, sum-of-costs: 2k+3 時計回り makespan: k+2, sum-of-costs: k+6 反時計回り k > 3 で同時最適化は不可 [Yu&LaValle AAAI-13] 例. 1. last arrival time (aka. makespan) 2. total arrival time (aka. sum-of-costs, flowtime) 3. total distance メジャー 4. max distance
/123 30 MAPF-POST[Hönig ICAPS-16] 2 moves 2 moves +1 turn model: execution: 実ロボットの挙動を無視 MAPF plan を後処理 運動学的制約を満たすスケジュールを生成 A B C D E B C F C D 時間的依存関係を抽出 A B C D E B C F C D 5 0 0 16 25 32 48 29 33 64 最短実現時間を求める E D A B B C … 0 0 0 0 -1 ∞ -2 -1 0 ∞ ∞ ∞ ∞ ∞ ∞ ∞ 0 0 -4 -8 -4 ∞ 距離グラフに変換 E D A B B C … [1,∞] source sink [0,0] [0,0] [1,∞] [2,∞] [8,∞] [4,∞] [4,∞] [0,∞] [0,∞ ] [0,∞ ] 動作に要する時間をアノテーション c.f., STN: simple temporal network [Dechter+ AIJ-91] 動作に要する [最小時間, 最大時間] t=1 t=2 t=3 t=4 t=0 入力: MAPF plan A B C F D E
/123 45 Proof sketch. highest as high as high このサイクルは必ず探索される すべての隣接ノードを探索 次に行きたい場所 サイクルの 最後のノード invalid valid ローテーションは常に成功! How PIBT works – 7/8 現在地 補題: 二重連結グラフ等では最高優先順位のエージェントが任意の隣接ノードに移動可能
/123 61 アドホックな例: focusing-at-goals original plan refined plan -2 cost (お気持ち) あるエージェントが目的地に早く到達することを 妨害しているエージェント群を抽出したい M = { i の目的地を時刻 t で使用しているエージェント, i の理想コスト ≤ t ≤ 実コスト } 非効率な解に対して効果的
/123 91 priority inheritance high low high low as high parent child high low high low as high parent child is activated – 2/5 Details: when contracted requesting extended if unoccupied
/123 93 deadlock resolution ancestor stuck parent child backtracking invalid case +prohibit to back to is activated – 4/5 Details: when +prohibit to back to contracted requesting extended if unoccupied
/123 105 Active Moduler Environment for Robot Navigation Shota Kameyama, Keisuke Okumura,Yasumasa Tamura & Xavier Défago to appear at ICRA-21, available at arXiv 環境による計算支援 *supported by NTT Facilities, アセンブリ手伝ってくれたラボメンにも感謝
/123 107 planning representation navigation そもそも“正しく”モデリングできてる? 外部環境≠内部表象 => “Use the world as its own model” [Brooks AIJ-91] ノイズ, 予期せぬ障害物, 不完全な実行, ロボット間での表象のずれ, etc
/123 124 KO のワーク [Okumura+ 1JCAI-19] Okumura, K., Machida M., Défago, X. & Tamura, Y. “Priority Inheritance with Backtracking for Iterative Multi-agent Path Finding”. Proc. Intel. Joint Conf. on Artificial Intelligence (IJCAI). 2019. [Okumura+ WoMAPF-20] Okumura, K., Tamura, Y. & Défago, X. “winPIBT: Extended Prioritized Algorithm for Iterative Multi-agent Path Finding”. Proc. Workshop on Multi-Agent Path Finidng (WoMAPF). 2020. [Okumura+ 21, preprint] Okumura, K., Tamura, Y. & Défago, X. “Iterative Refinement for Real-Time Multi-Robot Path Planning”. arXiv preprint. 2021. [Okumura+ AAAI-21] Okumura, K., Tamura, Y. & Défago, X. “Time-Independent Planning for Multiple Moving Agents”. Proc. AAAI Conf. on Artificial Intelligence (AAAI). 2021. [Kameyama+ ICRA-21] Kameyama, S., Okumura, K., Tamura, Y. & Défago, X. “Active Modular Environment for Robot Navigation”. to appear at ICRA-21, arXiv preprint. 2021. 便利サイト: https://kei18.github.io/
/123 125 MAPF のレビュー論文 Ma, H., Koenig, S., Ayanian, N., Cohen, L., Hönig, W., Kumar, T. K., Uras, T., Xu, H., Tovey, C. & Sharon, G. “Overview: Generalizations of Multi-Agent Path Finding to Real-World Scenarios”. Proc. Workshop on Multi-Agent Path Finding (WoMAPF). 2016. Felner, A., Stern, R., Shimony, S. E., Boyarski, E., Goldenberg, M., Sharon, G., Sturtevant, N., Wagner, G. & Surynek, P. “Search- based optimal solvers for the multi-agent pathfinding problem: Summary and challenges”. Proc. Annu. Symp. on Combinatorial Search (SoCS). 2017. Stern, R. “Multi-agent path finding – an overview”. Artif. Intell. (AIJ). 2019. Stern, R., Sturtevant, N., Felner, A., Koenig, S., Ma, H., Walker, T., Li, J., Atzmon, D., Cohen, L., Kumar, T. K. , Boyarski, E. & Barták, R. “Multi-Agent Pathfinding: Definitions, Variants, and Benchmarks”. Proc. Intl. Symp. on Combinatorial Search (SoCS). 2019. Salzman, O., Stern, R. “Research Challenges and Opportunities in Multi-Agent Path Finding and Multi-Agent Pickup and Delivery Problems”. Proc. Intl. Joint Conf. on Autonomous Agents & Multiagent Systems (AAMAS). 2020. 便利サイト: http://mapf.info/
/123 126 応用例 [Wuman+ AI Magagine-08] Wurman, P. R., D'Andrea, R., & Mountz, M. “Coordinating hundreds of cooperative, autonomous vehicles in warehouses”. AI magazine. 2008 [Dresner&Stone JAIR-08] Dresner, K., & Stone, P. “A multiagent approach to autonomous intersection management”. J. Artif. Intell. Res. (JAIR). 2008. [Morris+ AAAI Workshop-16] Morris, R., Pasareanu, C. S., Luckow, K. S., Malik, W., Ma, H., Kumar, T. S., & Koenig, S. “Planning, Scheduling and Monitoring for Airport Surface Operations”. Proc. AAAI Workshop: Planning for Hybrid Systems. 2016. [Okoso+ ITSC-19] Okoso, A., Otaki, K., & Nishi, T. “Multi-agent path finding with priority for cooperative automated valet parking”. IEEE Proc. IEEE Intell. Transp. Syst. Conf. (ITSC). 2019 [Li+ AAMAS-20] Li, J., Sun, K., Ma, H., Felner, A., Kumar, T. S., & Koenig, S. “Moving agents in formation in congested environments”. Proc. Intl. Joint Conf. on Autonomous Agents & Multiagent Systems (AAMAS). 2020.
/123 127 MAPF の複雑性について [Surynek AAAI-10] Surynek, P. “An optimization variant of multi-robot path planning is intractable”. Proc. AAAI Conf. on Artificial Intelligence (AAAI). 2010. [Yu&LaValle AAAI-13] Yu, J., & LaValle, S. “Structure and intractability of optimal multi-robot path planning on graphs”. Proc. AAAI Conf. on Artificial Intelligence (AAAI). 2013. [Yu RA-L-15] Yu, J. “Intractability of Optimal Multi-Robot Path Planning on Planar Graphs”. IEEE Robot. Autom. Lett. (RA- L). 2015. [Ma+ AAAI-16] Ma.,H., Tovey, C., Sharon, G., Kumar, T. S., & Koenig, S. “Multi- agent path finding with payload transfers and the package-exchange robot-routing problem,” Proc. AAAI Conf. on Artificial Intelligence. 2016. [Banfi+ RA-L-17] Banfi, J., Basilico, N., & Amigoni, F. “Intractability of time-optimal multirobot path planning on 2d grid graphs with holes”, IEEE Robot. Autom. Lett. (RA-L). 2017. [Röger&Helmert SoCS-12] Röger, G., & Helmert, M. “Non-optimal multi-agent pathfinding is solved (since 1984)”. Proc. Annu. Symp. on Combinatorial Search (SoCS). 2012. [Kornhauser 84] Kornhauser, D. M., Miller, G., & Spirakis, P. “Coordinating pebble motion on graphs, the diameter of permutation groups, and applications”. Master's thesis at M.I.T. 1984. [Nebel ICAPS-20] Nebel, B. “On the Computational Complexity of Multi-Agent Pathfinding on Directed Graphs”. Proc. Intl. Conf. on Automated Planning and Scheduling (ICAPS). 2020.
/123 128 Prioritized Planning 関連 – 1/2 [Erdmann& Lozano-Perez Algorithmica-87] Erdmann, M., & Lozano-Perez, T. “On multiple moving objects”. Algorithmica. 1987. [Silver AIIDE-05] Silver, D. “Cooperative pathfinding”. Proc. AAAI Conf. on Artificial Intelligence and Interactive Digital Entertainment (AIIDE). 2005. [Cap+ T-ASE-15] Čáp, M., Novák, P., Kleiner, A., & Selecký, M. “Prioritized planning algorithms for trajectory coordination of multiple mobile robots”. IEEE Trans. Autom. Sci. Eng. (T-ASE). 2015 [Wang&Botea JAIR-11] Wang, K. H. C., & Botea, A. “MAPP: a scalable multi-agent path planning algorithm with tractability and completeness guarantees”. J. Artif. Intell. Res. (JAIR). 2011 [Bnaya&Felner ICRA-14] Bnaya, Z., & Felner, A. “Conflict-oriented windowed hierarchical cooperative A∗”. Proc. IEEE Intl. Conf. on Robotics and Automation (ICRA). 2014.
/123 129 Prioritized Planning 関連 – 2/2 [Azarm&Schmidt ICRA-97] Azarm, K., & Schmidt, G. “Conflict-free motion of multiple mobile robots based on decentralized motion planning and negotiation”. Proc. IEEE Intl. Conf. on Robotics and Automation (ICRA). 1997. [Bennewitz+ Robotics-02] Bennewitz, M., Burgard, W., & Thrun, S. “Finding and optimizing solvable priority schemes for decoupled path planning techniques for teams of mobile robots”. Robot. Auton. Syst. 2002. [Van Den Berg & Overmars ICRA-05] Van Den Berg, J. P., & Overmars, M. H. “Prioritized motion planning for multiple robots”. Proc. IEEE Intl. Conf. on Robotics and Automation (ICRA). 2005. [Andreychuk& Yakovlev AAMAS-18] Andreychuk, A., & Yakovlev, K. “Two techniques that enhance the performance of multi-robot prioritized path planning”. Proc. Intl. Joint Conf. on Autonomous Agents & Multiagent Systems (AAMAS). 2018. [Ma+ AAAI-19] Ma, H., Harabor, D., Stuckey, P. J., Li, J., & Koenig, S. “Searching with consistent prioritization for multi-agent path finding”. Proc. AAAI Conf. on Artificial Intelligence (AAAI). 2019
/123 130 Conflict-based Search (CBS) とその派生 (他にもいっぱいあります… そして毎年たくさん出る…) - 1/2 [Shraon+ AIJ-15] Sharon, G., Stern, R., Felner, A., & Sturtevant, N. R. “Conflict-based search for optimal multi-agent pathfinding”. Artif. Intell. (AIJ). 2015. [Boyarski+ IJCAI-15] Boyarski, E., Felner, A., Stern, R., Sharon, G., Betzalel, O., Tolpin, D., & Shimony, E. “ICBS: improved conflict-based search algorithm for multi- agent pathfinding”. Proc. Intl. Joint Conf. on Artificial Intelligence (IJCAI). 2015. [Boyarski+ AAAI-21] Boyarski, E., Felner, A., Le Bodic, P., Harabor, D., Stuckey, P. J., & Koenig, S. “f-Aware Conflict Prioritization & Improved Heuristics for Conflict-Based Search” [Felner+ ICAPS-18] Felner, A., Li, J., Boyarski, E., Ma, H., Cohen, L., Kumar, T. S., & Koenig, S. “Adding heuristics to conflict- based search for multi-agent path finding”. Proc. Intl. Conf. on Automated Planning and Scheduling (ICAPS). 2018. [Li+ IJCAI-19] Li, J., Felner, A., Boyarski, E., Ma, H., & Koenig, S. “Improved Heuristics for Multi-Agent Path Finding with Conflict-Based Search”. Proc. Intl. Joint Conf. on Artificial Intelligence (IJCAI). 2019. [Li+ AAAI-19] Li, J., Harabor, D., Stuckey, P. J., Ma, H., & Koenig, S. “Symmetry-breaking constraints for grid-based multi-agent path finding”. Proc. AAAI Conf. on Artificial Intelligence (AAAI). 2019 [Li+ ICAPS-20] Li, J., Gange, G., Harabor, D., Stuckey, P. J., Ma, H., & Koenig, S. “New techniques for pairwise symmetry breaking in multi-agent path finding”. Proc. Intl. Conf. on Automated Planning and Scheduling (ICAPS). 2020.
/123 131 Conflict-based Search (CBS) とその派生 (他にもいっぱいあります… そして毎年たくさん出る…) - 2/2 [Gange+ ICAPS-19] Gange, G., Harabor, D., & Stuckey, P. J. “Lazy CBS: Implicit conflict-based search using lazy clause generation”. Proc. Intl. Conf. on Automated Planning and Scheduling (ICAPS). 2019. [Huang+ AAAI-21] Huang, T., Dilkina, B., & Koenig, S. “Learning to Resolve Conflicts for Multi-Agent Path Finding with Conflict-Based Search”. Proc. AAAI Conf. on Artificial Intelligence (AAAI). 2021 [Boyarski+ IJCAI-20] Boyarski, E., Felner, A., Harabor, D., Stuckey, P. J., Cohen, L., Li, J., & Koenig, S. “Iterative-Deepening Conflict-Based Search”. Proc. Intl. Joint Conf. on Artificial Intelligence (IJCAI). 2020. [Barer+ SoCS-14] Barer, M., Sharon, G., Stern, R., & Felner, A. “Suboptimal variants of the conflict-based search algorithm for the multi-agent pathfinding problem”. Proc. Annu. Symp. on Combinatorial Search (SoCS). 2014. [Li+ AAAI-21a] Li, J., Ruml, W., & Koenig, S. “EECBS: A Bounded-Suboptimal Search for Multi-Agent Path Finding”. Proc. AAAI Conf. on Artificial Intelligence (AAAI). 2021.
/123 132 他の主流な探索ベースの optimal なソルバたち [Standley AAAI-10] Standley, T. “Finding optimal solutions to cooperative pathfinding problems”. Proc. AAAI Conf. on Artificial Intelligence (AAAI). 2010. [Sharon+ AIJ-13] Sharon, G., Stern, R., Goldenberg, M., & Felner, A. “The increasing cost tree search for optimal multi-agent pathfinding”. Artif. Intell. (AIJ). 2013. [Goldenberg+ JAIR-14] Goldenberg, M., Felner, A., Stern, R., Sharon, G., Sturtevant, N., Holte, R. C., & Schaeffer, J. “Enhanced partial expansion A*”. J. Artif. Intell. Res. (JAIR). 2014 [Wagner&Choset AIJ-15] Wagner, G., & Choset, H. “Subdimensional expansion for multirobot path planning”. Artif. Intell. (AIJ). 2015. [Lam+ IJCAI-19] Lam, E., Le Bodic, P., Harabor, D. D., & Stuckey, P. J. “Branch-and-Cut-and-Price for Multi-Agent Pathfinding”. Proc. Intl. Joint Conf. on Artificial Intelligence (IJCAI). 2019. [Lam&Le Bodic ICAPS-20] Lam, E., & Le Bodic, P. “New valid inequalities in branch-and-cut-and-price for multi-agent path finding”. Proc. Intl. Conf. on Automated Planning and Scheduling (ICAPS). 2020.
/123 133 帰着ベースの optimal なソルバたち [Ryan ICRA-10] Ryan, M. “Constraint-based multi-robot path planning”. Proc. IEEE Intl. Conf. on Robotics and Automation (ICRA). 2010 [Surynek PRICAI-12] Surynek, P. “Towards optimal cooperative path planning in hard setups through satisfiability solving”. Pacific Rim Intl. Conf. on Artificial Intelligence (PRICAI). 2012. [Surynek+ ECAI-16] Surynek, P., Felner, A., Stern, R., & Boyarski, E. “Efficient SAT approach to multi-agent path finding under the sum of costs objective”. Proc. European Conf. on Artificial Intelligence (ECAI-16). 2016 [Yu&LaValle T-RO-16] Yu, J., & LaValle, S. “Optimal multirobot path planning on graphs: Complete algorithms and effective heuristics”. IEEE Trans. on Robotics (T-RO). 2016 [Erdem+ IJCAI-13] Erdem, E., Kisa, D., Oztok, U., & Schüller, P. “A general formal framework for pathfinding problems with multiple agents”. Proc. Intl. Joint Conf. on Artificial Intelligence (IJCAI). 2013.
/123 134 ルールベースな sub-optimal なソルバたち [Ryan JAIR-08] Ryan, M. R. K. “Exploiting subgraph structure in multi-robot path planning”. J. Artif. Intell. Res. (JAIR). 2008. [PeasgoodT-RO-08] Peasgood, M., Clark, C. M., & McPhee, J. “A complete and scalable strategy for coordinating multiple robots within roadmaps”. IEEE Trans. on Robotics (T-RO). 2008. [Surynek ICRA-09] Surynek, P. “A novel approach to path planning for multiple robots in bi-connected graphs”. Proc. IEEE Intl. Conf. on Robotics and Automation (ICRA). 2009. [Surynek FLAIRS-09] Surynek, P. “Towards Shorter Solutions for Problems of Path Planning for Multiple Robots in Theta- like Environments”. Florida Artif. Intell. Res. Soc. Conf. (FLAIRS). 2009. [Botea+Surynek AAAI-15] Botea, A., & Surynek, P. “Multi-agent path finding on strongly biconnected digraphs”. Proc. AAAI Conf. on Artificial Intelligence (AAAI). 2015. [Khorshid+ SoCS-11] Khorshid, M. M., Holte, R. C., & Sturtevant, N. R. “A Polynomial-Time Algorithm for Non-Optimal Multi-Agent Pathfinding”. Proc. Annu. Symp. on Combinatorial Search (SoCS). 2011. [Luna&Bekris IJCAI-11] Luna, R., & Bekris, K. E. “Push and swap: Fast cooperative path-finding with completeness guarantees”. Proc. Intl. Joint Conf. on Artificial Intelligence (IJCAI). 2011. [de Wilde+ AAMAS-13] de Wilde, B., ter Mors, A. W., & Witteveen, C. “Push and rotate: cooperative multi-agent path planning”. Proc. Intl. Joint Conf. on Autonomous Agents & Multiagent Systems (AAMAS). 2013. [Sajid+ SoCS-12] Sajid, Q., Luna, R., & Bekris, K. E. “Multi-Agent Pathfinding with Simultaneous Execution of Single-Agent Primitives.” Proc. Annu. Symp. on Combinatorial Search (SoCS). 2012
/123 135 Sampling-based なアプローチ (あまり見ない…) [Čáp+ AAMAS-13] Čáp, M., Novák, P., Vokřínek, J., & Pěchouček, M. “Multi-agent RRT*: Sampling-based cooperative pathfinding”. Proc. Intl. Joint Conf. on Autonomous Agents & Multia- gent Systems (AAMAS). 2013. マップにアノテーションする / 前処理頑張るアプローチ [Wang&Botea ICAPS-08] Wang, K. H. C., & Botea, A. “Fast and Memory-Efficient Multi-Agent Pathfinding”. Proc. Intl. Conf. on Automated Planning and Scheduling (ICAPS). 2008. [Jansen& Sturtevant AIIDE-08] Jansen, M. R., & Sturtevant, N. R. “Direction Maps for Cooperative Pathfinding”. Proc. AAAI Conf. on Artificial Intelligence and Interactive Digital Entertainment (AIIDE). [Cohen+ IJCAI-16] Cohen, L., Uras, T., Kumar, T. S., Xu, H., Ayanian, N., & Koenig, S. “Improved Solvers for Bounded- Suboptimal Multi-Agent Path Finding”. Proc. Intl. Joint Conf. on Artificial Intelligence (IJCAI). 2016. [Han&Yu RA-L-20] Han, S. D., & Yu, J. “DDM: Fast Near-Optimal Multi-Robot Path Planning Using Diversified-Path and Optimal Sub-Problem Solution Database Heuristics”. IEEE Robot. Autom. Lett. (RA-L). 2020.
/123 137 ML とハイブリッドなアプローチ [Sartoretti+ RA-L-19] Sartoretti, G., Kerr, J., Shi, Y., Wagner, G., Kumar, T. S., Koenig, S., & Choset, H. “Primal: Pathfinding via reinforcement and imitation multi-agent learning”. IEEE Robot. Autom. Lett. (RA-L). 2019. [Damani+ RA-L-21] Damani, M., Luo, Z., Wenzel, E., & Sartoretti, G. “PRIMAL2: Pathfinding via Reinforcement and Imitation Multi-Agent Learning—Lifelong”. IEEE Robot. Autom. Lett. (RA-L). 2021 (recived) [Li+ IROS-20] Li, Q., Gama, F., Ribeiro, A., & Prorok, A. “Graph Neural Networks for Decentralized Multi-Robot Path Planning”. Proc. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS). 2020. [Kaduri+ ICAPS-20] Kaduri, O., Boyarski, E., & Stern, R. “Algorithm Selection for Optimal Multi-Agent Pathfinding”. Proc. Intl. Conf. on Automated Planning and Scheduling (ICAPS). 2020. [Ren+ AAMAS-21] Ren, J., Sathiyanarayanan, V., Ewing, E., Senbaslar, B., & Ayanian, N. “MAPFAST: A Deep Algorithm Selector for Multi Agent Path Finding using Shortest Path Embeddings”. Proc. Intl. Joint Conf. on Autonomous Agents & Multiagent Systems (AAMAS). 2021
/123 138 Decentralized なアプローチ [Velagapudi+ IROS-10] Velagapudi, P., Sycara, K., & Scerri, P. “Decentralized prioritized planning in large multirobot teams”. Intl. Conf. on Intelligent Robots and Systems (IROS). 2010. [Wiktor+ IROS-14] Wiktor, A., Scobee, D., Messenger, S., & Clark, C. “Decentralized and complete multi-robot motion planning in confined spaces”. Intl. Conf. on Intelligent Robots and Systems (IROS). 2010. [Wei+ IEA/AIE-14] Wei, C., Hindriks, K. V., & Jonker, C. M. “Multi-robot cooperative pathfinding: A decentralized approach”. Proc. Intl. Conf. Industrial, Engineering and Other Applications of Applied Intelligent Systems (IEA/AIE). 2014. [Chouhan& Niyogi AJCAI-15] Chouhan, S. S., & Niyogi, R. “DMAPP: A distributed multi-agent path planning algorithm”. Proc. Australasian Joint Conf. on Artificial Intelligence (AJCAI). 2015. [Zhang+ DARS-16] Zhang, Y., Kim, K., & Fainekos, G. “Discof: Cooperative pathfinding in distributed systems with limited sensing and communication range”. Proc. Distributed Autonomous Robotic Systems (DARS). 2016. [Wang& Rubenstein RA-L-20] Wang, H., & Rubenstein, M. “Walk, stop, count, and swap: decentralized multi-agent path finding with theoretical guarantees”. IEEE Robot. Autom. Lett. (RA-L). 2020.
/123 139 Target Assignment and Path Planning [Miklic+ IROS-09] Miklic, D., Bogdan, S., Nestic, S., & Fierro, R. “A discrete grid abstraction for formation control in the presence of obstacles”. Intl. Conf. on Intelligent Robots and Systems (IROS). 2010. [Yu&LaValle WAFR-13] Yu, J., & LaValle, S. M. “Multi-agent path planning and network flow”. Algorithmic foundations of robotics X. 2013. [Turpin+ Autonomous Robots-14] Turpin, M., Mohta, K., Michael, N., & Kumar, V. “Goal assignment and trajectory planning for large teams of interchangeable robots”. Autonomous Robots. 2014. [MacAlpine AAAI-15] MacAlpine, P., Price, E., & Stone, P. “SCRAM: Scalable collision-avoiding role assignment with minimal- makespan for formational positioning”. Proc. AAAI Conf. on Artificial Intelligence (AAAI). 2015. [Adler+ WAFR-15] Adler, A., De Berg, M., Halperin, D., & Solovey, K. Efficient multi-robot motion planning for unlabeled discs in simple polygons. Algorithmic foundations of robotics XI. 2015. [Wagner+ SoCS-12] Wagner, G., Choset, H., & Ayanian, N. “Subdimensional Expansion and Optimal Task Reassignment”. Proc. Annu. Symp. on Combinatorial Search (SoCS). 2012. [Ma&Koenig AAMAS-16] Ma, H., & Koenig, S. “Optimal target assignment and path finding for teams of agents”. Proc. Intl. Joint Conf. on Autonomous Agents & Multia- gent Systems (AAMAS). 2016. [Hönig AAMAS-18] Hönig, W., Kiesel, S., Tinka, A., Durham, J., & Ayanian, N. “Conflict-based search with optimal task assignment”. Proc. Intl. Joint Conf. on Autonomous Agents & Multia- gent Systems (AAMAS). 2018. [Wang&Rubenstein T-RO-20] Wang, H., & Rubenstein, M. “Shape formation in homogeneous swarms using local task swapping”. IEEE Trans. Robot. (T-RO). 2020.
/123 140 Multi-agent Pickup & Delivery (MAPD) [Ma+ AAMAS-16] Ma, H., Li, J., Kumar, T. K., & Koenig, S. “Lifelong multi-agent path finding for online pickup and delivery tasks”. Proc. Intl. Joint Conf. on Autonomous Agents & Multiagent Systems (AAMAS). 2016. [Nguyen+ IJCAI-17] Nguyen, V., Obermeier, P., Son, T. C., Schaub, T., & Yeoh, W. “Generalized Target Assignment and Path Finding Using Answer Set Programming”. Proc. Intl. Joint Conf. on Artificial Intelligence (IJCAI). 2017. [Ma+ AAMAS-19] Ma, H., Hönig, W., Kumar, T. S., Ayanian, N., & Koenig, S. “Lifelong path planning with kinematic constraints for multi-agent pickup and delivery”. Proc. Intl. Joint Conf. on Autonomous Agents & Multia- gent Systems (AAMAS). 2019. [Liu+ AAMAS-19] Liu, M., Ma, H., Li, J., & Koenig, S. “Task and path planning for multi-agent pickup and delivery”. Proc. Intl. Joint Conf. on Autonomous Agents & Multia- gent Systems (AAMAS). 2019. [Li+ AAAI-21b] Li, J., Tinka, A., Kiesel, S., Durham, J. W., Kumar, T. K., & Koenig, S. “Lifelong multi-agent path finding in large- scale warehouses”. Proc. AAAI Conf. on Artificial Intelligence (AAAI). 2021. Online MAPF [Švancara+ AAAI-19] Švancara, J., Vlk, M., Stern, R., Atzmon, D., & Barták, R. “Online multi-agent pathfinding”. Proc. AAAI Conf. on Artificial Intelligence (AAAI). 2019. [Morag+ AAAI-workshop-21] Morag, J., Stern, R., Felner, A., Atzmon, D., & Boyarski, E. “Optimality in Online Multi-agent Path Finding”. Proc. AI for Urban Mobility Workshop. 2021. [Ma ICAPS-21] Ma, H. “A Competitive Analysis of Online Multi-Agent Path Finding”. Proc. Intl. Conf. on Automated Planning and Scheduling (ICAPS). 2021.
/123 141 離散時間の仮定を緩めたい [Phillips& Likhachev ICRA-11] Phillips, M., & Likhachev, M. “Sipp: Safe interval path planning for dynamic environments”. Proc. IEEE Intl. Conf. on Robotics and Automation (ICRA). 2011. [Kim+ CASE-15] Kim, K., Campbell, J., Duong, W., Zhang, Y., & Fainekos, G. “DisCoF+: Asynchronous DisCoF with flexible decoupling for cooperative pathfinding in distributed systems”. IEEE Intl. Conf. on Automation Science and Engineering (CASE). 2015. [Walker+ IJCAI-18] Walker, T. T., Sturtevant, N. R., & Felner, A. “Extended Increasing Cost Tree Search for Non-Unit Cost Domains”. Proc. Intl. Joint Conf. on Artificial Intelligence (IJCAI). 2018. [Andreychuk+ IJCAI-19] Andreychuk, A., Yakovlev, K., Atzmon, D., & Stern, R. “Multi-agent pathfinding with continuous time”. Proc. Intl. Joint Conf. on Artificial Intelligence (IJCAI). 2019. [Surynek WoMAPF-20] Surynek, P. “Pushing the Envelope: From Discrete to Continuous Movements in Multi-Agent Path Finding via Lazy Encodings”. Proc. Workshop on Multi-Agent Path Finding (WoMAPF). 2020. [Andreychuk+ AAAI-21] Andreychuk, A., Yakovlev, K., Boyarski, E.,& Stern, R. “Improving Continuous-Time Conflict Based Search”. Proc. AAAI Conf. on Artificial Intelligence (AAAI). 2021. [Ren+ CoRR-21] Ren, Z., Rathinam, S., & Choset, H. “Loosely Synchronized Search for Multi-agent Path Finding with Asynchronous Actions”. arXiv preprint. 2021.
/123 142 Execution, Delay-tolerant, Uncertainty - 1/2 [Hönig ICAPS-16] Hönig, W., Kumar, T. K., Cohen, L., Ma, H., Xu, H., Ayanian, N., & Koenig, S. “Multi-agent path finding with kinematic constraints”. Proc. Intl. Conf. on Automated Planning and Scheduling (ICAPS). 2016. [Ma+ AAAI17] Ma, H., Kumar, T. S., & Koenig, S. “Multi-agent path finding with delay probabilities”. Proc. AAAI Conf. on Artificial Intelligence (AAAI). 2017. [Hönig+ RA-L-19] Hönig, W., Kiesel, S., Tinka, A., Durham, J. W., & Ayanian, N. “Persistent and robust execution of MAPF schedules in warehouses”. IEEE Robot. Autom. Lett. (RA-L). 2019. [Atzmon+ ICAPS-20] Atzmon, D., Stern, R., Felner, A., Sturtevant, N. R., & Koenig, S. “Atzmon, D., Stern, R., Felner, A., Sturtevant, N. R., & Koenig, S. “Probabilistic robust multi-agent path finding”. Proc. Intl. Conf. on Automated Planning and Scheduling (ICAPS). 2020. [Atzmon+ JAIR-20] Atzmon, D., Stern, R., Felner, A., Wagner, G., Barták, R., & Zhou, N. F. “Robust multi-agent path finding and executing”. J. Artif. Intell. Res. (JAIR). 2020. [Chen+ AAAI-21] Chen, Z., Harabor, D., Li, J., & Stuckey, P. J. “Symmetry Breaking for k-Robust Multi-Agent Path Finding”. Proc. AAAI Conf. on Artificial Intelligence (AAAI). 2021. [Shahar+ JAIR-21] Shahar, T., Shekhar, S., Atzmon, D., Saffidine, A., Juba, B., & Stern, R. “Safe Multi-Agent Pathfinding with Time Uncertainty”. J. Artif. Intell. Res. (JAIR). 2021.
/123 143 Execution, Delay-tolerant, Uncertainty - 2/2 [Wagner&Choset ICAPS-17] Wagner, G., & Choset, H. “Path planning for multiple agents under uncertainty”. Proc. Intl. Conf. on Automated Planning and Scheduling (ICAPS). 2017. [Peltzer+ CoRR-19] Peltzer, O., Brown, K., Schwager, M., Kochenderfer, M. J., & Sehr, M. “STT-CBS: A Conflict-Based Search Algorithm for Multi-Agent Path Finding with Stochastic Travel Times”. arXiv preprint. 2019. [Hawes+ AAMAS-20] Hawes, N., Street, C., Lacerda, B., & Mühlig, M. “Multi-robot planning under uncertainty with congestion-aware models”. Proc. Intl. Joint Conf. on Autonomous Agents & Multiagent Systems (AAMAS). 2020. [Barták+ ICAP20] Barták, R., Švancara, J., Škopková, V., Nohejl, D., & Krasičenko, I. “Multi-agent path finding on real robots”. Proc. Intl. Conf. on Automated Planning and Scheduling (ICAPS). 2020. Planning から Execution までのフレームワーク [Ma+ IEEE Intell. Syst.-17] Ma, H., Hönig, W., Cohen, L., Uras, T., Xu, H., Kumar, T. S., Ayanian, N., & Koenig, S. “Overview: A Hierarchical Framework for Plan Generation and Execution in Multirobot Systems”. IEEE Intelligent Systems. 2017. [HönigTR-O-18] Hönig, W., Preiss, J. A., Kumar, T. S., Sukhatme, G. S., & Ayanian, N. “Trajectory planning for quadrotor swarms”. IEEE Trans. on Robotics (TR-O). 2018.
/123 144 複数ゴール [Surynek AAAI-21] Surynek, P. “Multi-Goal Multi-Agent Path Finding via Decoupled and Integrated Goal Vertex Ordering”. Proc. AAAI Conf. on Artificial Intelligence (AAAI). 2021. Any-angle [Yakovlev&Andreychuk ICAPS-17] Yakovlev, K., & Andreychuk, A. “Any-angle pathfinding for multiple agents based on SIPP algorithm”. Proc. Intl. Conf. on Automated Planning and Scheduling (ICAPS). 2017. Large Agents [Thomas+ IEEE Intell. Syst.-15] Thomas, S., Deodhare, D., & Murty, M. N. “Extended conflict-based search for the convoy movement problem”. IEEE Intelligent Systems. 2015. [Li+ AAAI-19] Li, J., Surynek, P., Felner, A., Ma, H., Kumar, T. S., & Koenig, S. “Multi-agent path finding for large agents”. Proc. AAAI Conf. on Artificial Intelligence (AAAI). 2019. [Atzmon+ SoCS-19] Atzmon, D., Diei, A., & Rave, D. “Multi-Train Path Finding”. Proc. Intl. Symp. on Combinatorial Search (SoCS). 2019
/123 145 Economics な観点が入ったアプローチ [Bnaya SoCS-13] Bnaya, Z., Stern, R., Felner, A., Zivan, R., & Okamoto, S. “Multi-Agent Path Finding for Self Interested Agents”. Proc. Annu. Symp. on Combinatorial Search (SoCS). 2013. [Amir+ AAAI-15] Amir, O., Sharon, G., & Stern, R. “Multi-agent pathfinding as a combinatorial auction”. Proc. AAAI Conf. on Artificial Intelligence (AAAI). 2015. 環境もプランニングの対象にしてしまう [Bellusci+ AAMAS-20] Bellusci, M., Basilico, N., & Amigoni, F. “Multi-Agent Path Finding in Configurable Environments”. Proc. Intl. Joint Conf. on Autonomous Agents & Multiagent Systems (AAMAS). 2020. X-MAPF [Almagor&Lahijanian, AAMAS-20] Almagor, S., & Lahijanian, M. “Explainable multi agent path finding”. Proc. Intl. Joint Conf. on Autonomous Agents & Multiagent Systems (AAMAS). 2020.
/123 146 Motion Planning (未言及, 勉強不足です, そこまで追ってない) [Hopcroft+ IJRR-84] Hopcroft, J. E., Schwartz, J. T., & Sharir, M. “On the Complexity of Motion Planning for Multiple Independent Objects; PSPACE-Hardness of the" Warehouseman's Problem”. Intl. J. of Robotics Research, [Spirakis&Yap Inf. Process. Lett.-84] Spirakis, P., & Yap, C. K. “Strong NP-hardness of moving many discs”. Information Processing Letters. 1984. [LaValle&Hutchinson IEEE Trans. Robot. Autom.-98] LaValle, S. M., & Hutchinson, S. A. “Optimal motion planning for multiple robots having independent goals”. IEEE Tans. on Robotics and Automation. 1998. [Dobson+ MRS-17] Dobson, A., Solovey, K., Shome, R., Halperin, D., & Bekris, K. E. “Scalable asymptotically-optimal multi- robot motion planning”. IEEE Intl. Symp. on Multi-robot and Multi-agent Systems (MRS). 2017. [Riviere+ RA-L-20] Riviere, B., Hönig, W., Yue, Y., & Chung, S. J. “Glas: Global-to-local safe autonomy synthesis for multi- robot motion planning with end-to-end learning”. IEEE Robot. Autom. Lett. (RA-L). 2020. [Chen+ AAAI-21] Chen, J., Li, J., Fan, C., & Williams, B. “Scalable and Safe Multi-Agent Motion Planning with Nonlinear Dynamics and Bounded Disturbances”. Proc. AAAI Conf. on Artificial Intelligence (AAAI). 2021.
/123 147 速度ベースな衝突回避 (未言及, 掘ればたくさん出てくる) [Fiorini&Shiller IJRR-98] Fiorini, P., & Shiller, Z. ”Motion planning in dynamic environments using velocity obstacles”. Intl. J.Robotics Research (IJRR). 1998. [Guy+ SCA-09] Guy, S. J., Chhugani, J., Kim, C., Satish, N., Lin, M., Manocha, D., & Dubey, P. “Clearpath: highly parallel collision avoidance for multi-agent simulation”. Proc. ACM SIGGR./Eurogr. Symp. Comput. Animat. (SCA). 2009. [Van Den Berg+ Robotics-11] Van Den Berg, J., Guy, S. J., Lin, M., & Manocha, D. “Reciprocal n-body collision avoidance”. Robotics Research. 2011. 予期せぬ動的な障害物も考慮 (未言及, 掘ればたくさん出てくるはずだが把握してない) [Bajcsy+ ICRA-19] Bajcsy, A., Herbert, S. L., Fridovich-Keil, D., Fisac, J. F., Deglurkar, S., Dragan, A. D., & Tomlin, C. J. “A scalable framework for real-time multi-robot, multi-human collision avoidance”. Proc. IEEE Intl. Conf. on Robotics and Automation (ICRA). 2019. [Şenbaşlar+ DARS-19] Şenbaşlar, B., Hönig, W., & Ayanian, N. “Robust trajectory execution for multi-robot teams using distributed real-time replanning”. Proc. Distributed Autonomous Robotic Systems (DARS). 2019.
/123 148 そのほか言及したもの – 1/2 [Sha+ IEEE Trans Comput-90] Sha, L., Rajkumar, R., & Lehoczky, J. P. “Priority inheritance protocols: An approach to real- time synchronization”. IEEE Trans. on Computers. 1990. [Srinivasan+ ICCAD-90] Srinivasan, A., Ham, T., Malik, S., & Brayton, R. K. “Algorithms for discrete function manipulation”. IEEE Intl. Conf. on Computer-Aided Design (ICCAD). 1990 [Tel 00] Tel, G. “Introduction to distributed algorithms”. Cambridge university press. 2000. [Brooks AIJ-91] Brooks, R. A. “Intelligence without representation”. Artif. Intel. (AIJ). 1991. [Bimbraw ICINCO-15] Bimbraw, K. “Autonomous cars: Past, present and future a review of the developments in the last century, the present scenario and the expected future of autonomous vehicle technology”. Proc. IEEE Intl. Conf. on Informatics in Control, Automation and Robotics (ICINCO). 2015.
/123 149 そのほか言及したもの – 2/2 [Verma+ PerCom-05] Verma, A., Sawant, H. & Tan, J. “Selection and navigation of mobile sensor nodes using a sensor network”. Proc. IEEE Intl. Conf. on Pervasive Computing and Communications (PerCom). 2005. [Kim&ChongT-ASE-08] Kim, M.,K & Chong, N. Y. “Direction sensing rfid reader for mobile robot navigation,” IEEE Trans. Autom. Sci. Eng. (T-ASE). 2008. [Fujisawa+ Swarm Intell.-14] Fujisawa, R., Dobata, S., Sugawara K. & Matsuno, F. “Designing pheromone communication in swarm robotics: Group foraging behavior mediated by chemical substance”. Swarm Intelligence. 2014. [Khaliq&Saffiotti ICRA-15] Khaliq, A. A. & Saffiotti, A. “Stigmergy at work: Planning and navigation for a service robot on an rfid floor”. Proc. IEEE Intl. Conf. on Robotics and Automation (ICRA). 2014. [Altisen+ 19] Altisen, K., Devismes, S., Dubois, S., & Petit, F. “Introduction to distributed self-stabilizing algorithms”. Synthesis Lectures on Distributed Computing Theory. 2019. [Dijkstra Commun. ACM-74] Dijkstra, E., W. “Self-stabilizing systems in spite of distributed control”. Commun. ACM. 1974.
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