Multi-Objective Loosely Synchronized Search for Multi-Objective Multi-Agent Path Finding with Asynchronous Actions

doi:10.1007/s12204-024-2744-x

Abstract

Abstract: In recent years, the path planning for multi-agent technology has gradually matured, and has made breakthrough progress. The main difficulties in path planning for multi-agent are large state space, long algorithm running time, multiple optimization objectives, and asynchronous action of multiple agents. To solve the above problems, this paper first introduces the main problem of the research: multi-objective multi-agent path finding with asynchronous action, and proposes the algorithm framework of multi-objective loose synchronous (MOLS) search. By combining A∗ and M∗, MO LS-A∗ and MO-LS-M∗ algorithms are respectively proposed. The completeness and optimality of the algorithm are proved, and a series of comparative experiments are designed to analyze the factors affecting the performance of the algorithm, verifying that the proposed MO-LS-M∗ algorithm has certain advantages.

Key words: multi-agent path finding, multi-objective path planning, asynchronous action, loosely synchronous search

摘要： 近年来，多智能体路径规划技术逐渐成熟，并取得了突破性进展。多智能体路径规划的主要难点是状态空间大，算法运行时间长，优化目标多，以及多智能体动作异步。针对上述问题，本文首先介绍了研究的主要问题：多目标多智能体异步路径规划，并提出了多目标松散同步(MO-LS)搜索的算法框架。结合A*和M*，分别提出了MO-LS-A*和MO-LS-M*算法。证明了算法的完备性和最优性，并设计了一系列对比实验以分析影响算法性能的因素，验证了提出的MO-LS-M*算法具有一定的优势。

关键词: 多智能体路径规划，多目标路径规划，异步行动，松散同步搜索

CLC Number:

TP242

DU Haikuo^1,2 (杜海阔), GUO Zhengyu^3，4(郭正玉), ZHANG Lulu^1,2(章露露), CAI Yunze^1,2∗ (蔡云泽). Multi-Objective Loosely Synchronized Search for Multi-Objective Multi-Agent Path Finding with Asynchronous Actions[J]. J Shanghai Jiaotong Univ Sci, 2024, 29(4): 667-677.

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