Vein-Based Coalitions for Multi-Agent Pattern Formation Tasks
Abstract
This letter explores the vein trait of the structural formation task and extracts four typical parallel-straight vein structures for generating coalitions. Then, the Vein-Based Multi-Agent Pattern Formation (VB-MAPF) method is proposed to resolve task and path planning on coalitions. Besides, the presented rectifying operation guarantees the optimal coalition structure, and the vein-based pruned conflict-based search reduces the searching space for collision-free path planning. Compared with typical solvers, the inter-performance and the intra-performance orders show the efficiency and scalability of the VB-MAPF method in terms of <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">makespan</i> , <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">average distance</i> , and <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">maximum distance</i> on dozens of coalitions and thousands of agents.
BibTeX
@inproceedings{ral2022_veinbasedcoaliti,
title = {Vein-Based Coalitions for Multi-Agent Pattern Formation Tasks},
author = {Zhehong Zhang and Songhao Piao},
booktitle = {RA-L 2022},
year = {2022}
}