A Real-Time Rescheduling Algorithm for Multi-robot Plan Execution

Ying Feng, Adittyo Paul, Zhe Chen, Jiaoyang Li

Keywords: Multi-Agent Path Finding, Temporal Planning Graph, Heuristic Search, Path Replanning

TL;DR: We propse a new replanning algorithm that finds the optimal wait ordering of agents and shows fast runtime.

Abstract: One area of research in Multi-Agent Path Finding (MAPF) is to determine how re-planning can be efficiently achieved in the case of agents being delayed during execution. One option is to determine a new wait order, i.e., an ordering for multiple agents that are planned to visit the same location, to find the most optimal new solution that can be produced by re-ordering the wait order. We propose to use a Switchable Temporal Plan Graph and a heuristic search algorithm to approach finding a new optimal wait order. We prove the admissibility of our algorithm and experiment with its efficiency in a variety of conditions by measuring re-planning speed in different maps, with varying numbers of agents and randomized scenarios for agents' start and goal locations. Our algorithm shows a fast runtime in all experimental setups.

Primary Keywords: Multi-Agent Planning

Category: Long

Student: Undergraduate

Submission Number: 328