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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
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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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Conference Information
Committee AI  
Conference Date 2022-12-21 - 2022-12-21 
Place (in Japanese) (See Japanese page) 
Place (in English)  
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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 
Sub Title (in English)  
Keyword(1) Multi-agent path planning,  
Keyword(2) Multi-agent pickup and delivery prob- lem  
Keyword(3) 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)
3rd Author's Name Toshiharu Sugawara  
3rd Author's Affiliation 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
Date of Issue 2022-12-14 (AI) 


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