Multi-Agent Path Finding on Real Robots

Multi-agent path finding (MAPF) deals with the problem of finding a collision-free path for a set of agents in a graph. It is an abstract version of the problem to coordinate movement for a set of mobile robots. This demo presents software guiding through the MAPF task, starting from the problem formulation and finishing with execution of plans on real robots. Users can design grid-like maps, specify initial and goal locations of robots, generate plans using various abstract models implemented in the Picat programming language, simulate and visualize execution of these plans, and translate the plans to command sequences for Ozobots, small robots developed for teaching programming.

Authors

• Roman Barták Charles University
• Ivan Krasičenko
• Jičí Švancara Charles University

Keywords

• path planning
• multi-robot
• Ozobot