Toward efficient trajectory planning: the path-velocity decomposition
International Journal of Robotics Research
Algorithm 447: efficient algorithms for graph manipulation
Communications of the ACM
High quality navigation in computer games
Science of Computer Programming
Coordinating Pebble Motion On Graphs, The Diameter Of Permutation Groups, And Applications
SFCS '84 Proceedings of the 25th Annual Symposium onFoundations of Computer Science, 1984
Exploiting subgraph structure in multi-robot path planning
Journal of Artificial Intelligence Research
A novel approach to path planning for multiple robots in bi-connected graphs
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Finding the shortest move-sequence in the graph-generalized 15-puzzle is NP-hard
Studies in complexity and cryptography
MAPP: a scalable multi-agent path planning algorithm with tractability and completeness guarantees
Journal of Artificial Intelligence Research
Complete algorithms for cooperative pathfinding problems
IJCAI'11 Proceedings of the Twenty-Second international joint conference on Artificial Intelligence - Volume Volume One
Hi-index | 0.00 |
In cooperative multi-agent path planning, agents must move between start and destination locations and avoid collisions with each other. Many recent algorithms require some sort of restriction in order to be complete, except for the Push and Swap algorithm [Luna and Bekris, 2011], which claims only to require two unoccupied locations in a connected graph. Our analysis shows, however, that for certain types of instances Push and Swap may fail to find a solution. We present the Push and Rotate algorithm, an adaptation of the Push and Swap algorithm, and prove that by fixing the latter's shortcomings, we obtain an algorithm that is complete for the class of instances with two unoccupied locations in a connected graph. In addition, we provide experimental results that show our algorithm to perform competitively on a set of benchmark problems from the video game industry.