Contingent Planning for Robust Multi-Agent Path Finding

A classical approach to Multi-agent Path Finding assumes an offline construction of collision-free paths that the agents blindly follow during execution. k-robust plans can be executed without collisions even if an agent is delayed for at most k steps. In the paper, we propose a novel concept of robustness that uses alternative paths to which the agents are diverted in case of delay. Such plans can be found with much higher chances than k-robust plans.

Authors

• Michal Nekvinda
• Roman Barták
• Meir Kalech

Keywords

• Problem Solving Using Search
• Search In Robotics
• Real-life Applications