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학술대회 Corridor Occupancy-Based Multi-Agent Pathfinding in Topological Maps
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저자
송수환, 나기인, 유원필
발행일
202210
출처
International Conference on Information and Communication Technology Convergence (ICTC) 2022, pp.181-183
DOI
https://dx.doi.org/10.1109/ICTC55196.2022.9952848
협약과제
22PS1700, 이종의 다중 모바일 물류 핸들링 로봇 통합 운영 시뮬레이터 및 실시간 플릿 매니지먼트 시스템 개발, 유원필
초록
This study investigates the multi-agent pathfinding (MAPF) problem in a topological map consisting only of narrow corridors. When two or more robots move in a corridor, general MAPF algorithms determine the optimal corridor entry order to plan collision-free paths. However, depending on the width of a corridor, safety problems may occur if two or more robots navigate the corridor simultaneously. To ensure the safety of robot navigation, we propose a new MAPF method that prevents more than two robots from passing in the same corridor. This method plans multi-agent paths by assigning a spatialized constraint to a corridor entrance. The constraint allows only one robot to occupy one corridor.
KSP 제안 키워드
Same corridor, collision-free, multi-agent, robot navigation, topological map