Distributed and Asynchronous Planning and Execution for Multi-agent Systems through Short-Sighted Conflict Resolution

研究成果: Conference contribution

抄録

We propose a distributed method for a multi-agent pick-up and delivery problem with fluctuations in agent movement speeds while agents perform planning, detect and resolve conflicts (collisions) between the plans, and execute actions in the plans in a distributed manner. Our study assumes that the robot's movement speed can fluctuate, owing to various factors, thus delaying their scheduled tasks. Such delays can rapidly cause other agent conflicts to cascade and render long-term plans useless. Our proposed method allows each agent's plans to be executed and modified using an advanced short-sighted conflict resolution mechanism. Hence, although an agent attempts to follow its given sequence of actions, it performs each one after carefully checking for any conflict in the next few steps. Our method is fully distributed and works effectively, even when the number of task endpoints, which are the pick-up and delivery locations, is small and the agents are concentrated. We experimentally confirm that our method works efficiently without collisions in environments having agent speed fluctuations and deadlocks using example problems from robot movement in a construction site. Further, we compare the performance of our method with that of the baseline method.

本文言語English
ホスト出版物のタイトルProceedings - 2022 IEEE 46th Annual Computers, Software, and Applications Conference, COMPSAC 2022
編集者Hong Va Leong, Sahra Sedigh Sarvestani, Yuuichi Teranishi, Alfredo Cuzzocrea, Hiroki Kashiwazaki, Dave Towey, Ji-Jiang Yang, Hossain Shahriar
出版社Institute of Electrical and Electronics Engineers Inc.
ページ14-23
ページ数10
ISBN(電子版)9781665488105
DOI
出版ステータスPublished - 2022
イベント46th IEEE Annual Computers, Software, and Applications Conference, COMPSAC 2022 - Virtual, Online, United States
継続期間: 2022 6月 272022 7月 1

出版物シリーズ

名前Proceedings - 2022 IEEE 46th Annual Computers, Software, and Applications Conference, COMPSAC 2022

Conference

Conference46th IEEE Annual Computers, Software, and Applications Conference, COMPSAC 2022
国/地域United States
CityVirtual, Online
Period22/6/2722/7/1

ASJC Scopus subject areas

  • コンピュータ サイエンスの応用
  • ハードウェアとアーキテクチャ
  • ソフトウェア
  • メディア記述
  • 教育

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