LSRP*: Scalable and Anytime Planning for Multi-Agent Path Finding with Asynchronous Actions
Overview
This research presents LSRP*, a new anytime planner for multi-agent path finding (MAPF) that operates without assuming synchronized actions. The method improves on the earlier Loosely Synchronized Rule-based Planning (LSRP) algorithm by reducing solution cost and supporting more agents. Tests against baselines show LSRP* can handle up to 25% more agents than LSRP and reduce solution cost by up to 40%, while continuing to improve quality until runtime is exhausted.
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Reported quantity · robots: 1000 other · Basis not reported
“on quality after the initial solution is obtained until the runtime budget depletes. We analyze the properties of LSRP* and test it against several baselines with up to 1000 agents on various maps. LSRP* can handle up to 25% more agents than LSRP and can reduce up to 40% of the solution cost found by LSRP.”
Exact source · revision 1Source owner not reported
Reported quantity · percent: 25 other · Basis not reported · Differing source assertions
“on quality after the initial solution is obtained until the runtime budget depletes. We analyze the properties of LSRP* and test it against several baselines with up to 1000 agents on various maps. LSRP* can handle up to 25% more agents than LSRP and can reduce up to 40% of the solution cost found by LSRP.”
Exact source · revision 1Source owner not reported
Reported quantity · percent: 40 other · Basis not reported · Differing source assertions
“on quality after the initial solution is obtained until the runtime budget depletes. We analyze the properties of LSRP* and test it against several baselines with up to 1000 agents on various maps. LSRP* can handle up to 25% more agents than LSRP and can reduce up to 40% of the solution cost found by LSRP.”
Exact source · revision 1Source owner not reported
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- arXiv Robotics — research abstractsSignalLSRP*: Scalable and Anytime Planning for Multi-Agent Path Finding with Asynchronous Actions
This research presents LSRP*, a new anytime planner for multi-agent path finding (MAPF) that operates without assuming synchronized actions. The method improves on the earlier Loosely Synchronized Rule-based Planning (LSRP) algorithm by reducing solution cost and supporting more agents. Tests against baselines show LSRP* can handle up to 25% more agents than LSRP and reduce solution cost by up to 40%, while continuing to improve quality until runtime is exhausted.
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