Paper Abstract and Keywords |
Presentation |
2022-12-21 16:50
Distributed Action Planning and Execution with fluctuated movement for Iterative Multi-agent Path Planning Yuki Miyashita (Shimizu Corp.), Tomoki Yamauchi, Toshiharu Sugawara (Waseda Univ) AI2022-46 |
Abstract |
(in Japanese) |
(See Japanese page) |
(in English) |
This study proposes a distributed planning method with asynchronous execution for the multi-agent pick up and delivery (MAPD) problem in situations where fluctuations in the movement speeds exist. Many studies on MAPD problems have been conducted but usually assume specially designed environments with many detours for easy collision avoidance. In contrast, our study assumes an ad hoc environments, such as a construction site. Moreover, the robot’s movement speed may fluctuate due to weather and road surface conditions; thus, making them unable to proceed in the time as scheduled. These fluctuations significantly affect multi-agent systems, because a plan modification can cause other conflicts and may spread in a cascade. Our proposed method is suitable for more realistic MAPD problem in which agents’ actions are fluctuated and working locations are located flexibly. We experimentally confirmed that our method could be used in such environment without collisions nor deadlocks. |
Keyword |
(in Japanese) |
(See Japanese page) |
(in English) |
Multi-agent path planning, / Multi-agent pickup and delivery prob- lem / Distributed robotics planning / / / / / |
Reference Info. |
IEICE Tech. Rep., vol. 122, no. 322, AI2022-46, pp. 74-79, Dec. 2022. |
Paper # |
AI2022-46 |
Date of Issue |
2022-12-14 (AI) |
ISSN |
Online edition: ISSN 2432-6380 |
Copyright and reproduction |
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034) |
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AI2022-46 |
Conference Information |
Committee |
AI |
Conference Date |
2022-12-21 - 2022-12-21 |
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(See Japanese page) |
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Paper Information |
Registration To |
AI |
Conference Code |
2022-12-AI |
Language |
Japanese |
Title (in Japanese) |
(See Japanese page) |
Sub Title (in Japanese) |
(See Japanese page) |
Title (in English) |
Distributed Action Planning and Execution with fluctuated movement for Iterative Multi-agent Path Planning |
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Multi-agent path planning, |
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Multi-agent pickup and delivery prob- lem |
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Distributed robotics planning |
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1st Author's Name |
Yuki Miyashita |
1st Author's Affiliation |
Shimizu corporation (Shimizu Corp.) |
2nd Author's Name |
Tomoki Yamauchi |
2nd Author's Affiliation |
Waseda University (Waseda Univ) |
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Toshiharu Sugawara |
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Waseda University (Waseda Univ) |
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Speaker |
Author-1 |
Date Time |
2022-12-21 16:50:00 |
Presentation Time |
20 minutes |
Registration for |
AI |
Paper # |
AI2022-46 |
Volume (vol) |
vol.122 |
Number (no) |
no.322 |
Page |
pp.74-79 |
#Pages |
6 |
Date of Issue |
2022-12-14 (AI) |
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