Coordination of Multiple Robots along Given Paths with Bounded Junction Complexity
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We study a fundamental NP-hard motion coordination problem for multi-robot/multi-agent systems: We are given a graph G and set of agents, where each agent has a given directed path in G. Each agent is initially located on the first vertex of its path. At each time step an agent can move to the next vertex on its path, provided that the vertex is not occupied by another agent. The goal is to find a sequence of such moves along the given paths so that each agent reaches its target or to report that no such sequence exists. The problem models guidepath-based transport systems, which is a pertinent abstraction for traffic in a variety of contemporary applications, ranging from train networks or Automated Guided Vehicles (AGVs) in factories, through computer game animations, to qubit transport in quantum computing. It also arises as a sub-problem in the more general multi-robot motion-planning problem. We provide a fine-grained tractability analysis of the problem by considering new assumptions and identifying minimal values of key parameters for which the problem remains NP-hard. Our analysis identifies a critical parameter called vertex multiplicity (VM), defined as the maximum number of paths passing through the same vertex. We show that a prevalent variant of the problem, which is equivalent to Sequential Resource Allocation (concerning deadlock prevention for concurrent processes), is NP-hard even when VM is 3. On the positive side, for VM ≤ 2 we give an efficient algorithm that iteratively resolves cycles of blocking relations among agents. We also present a variant that is NP-hard when the VM is 2 even when G is a 2D grid and each path lies in a single grid row or column. By studying highly distilled yet NP-hard variants, we deepen the understanding of what makes the problem intractable and thereby guide the search for efficient solutions.
Originalsprog | Engelsk |
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Titel | AAMAS '23: Proceedings of the 2023 International Conference on Autonomous Agents and Multiagent Systems |
Forlag | Association for Computing Machinery |
Publikationsdato | 2023 |
Sider | 932-940 |
ISBN (Elektronisk) | 978-1-4503-9432-1 |
Status | Udgivet - 2023 |
Begivenhed | 22nd International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2023 - London, Storbritannien Varighed: 29 maj 2023 → 2 jun. 2023 |
Konference
Konference | 22nd International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2023 |
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Land | Storbritannien |
By | London |
Periode | 29/05/2023 → 02/06/2023 |
Sponsor | Artificial Intelligence Journal, DeepMind, et al., Huawei, International Foundation for Autonomous Agents and Multiagent Systems (IFAAMAS), National Science Foundation (NSF) |
Bibliografisk note
Funding Information:
M. Abrahamsen is supported by Starting Grant 1054-00032B from the Independent Research Fund Denmark under the Sapere Aude research career program and is part of Basic Algorithms Research Copenhagen (BARC), supported by the VILLUM Foundation grant 16582. Work on this paper by T. Geft and D. Halperin has been supported in part by the Israel Science Foundation (grant no. 1736/19), by NSF/US-Israel-BSF (grant no. 2019754), by the Israel Ministry of Science and Technology (grant no. 103129), by the Blavatnik Computer Science Research Fund, and by the Yandex Machine Learning Initiative for Machine Learning at Tel Aviv University. T. Geft has also been supported by scholarships from the Shlomo Shmeltzer Institute for Smart Transportation at Tel Aviv University and The Israeli Smart Transportation Research Center (ISTRC).
Publisher Copyright:
© 2023 International Foundation for Autonomous Agents and Multiagent Systems (www.ifaamas.org). All rights reserved.
ID: 384028342