eng
Schloss Dagstuhl – Leibniz-Zentrum für Informatik
Leibniz International Proceedings in Informatics
1868-8969
2021-10-15
45:1
45:16
10.4230/LIPIcs.CP.2021.45
article
Solving the Non-Crossing MAPF with CP
Peng, Xiao
1
Solnon, Christine
1
Simonin, Olivier
1
CITI, INRIA, INSA Lyon, F-69621, Villeurbanne, France
We introduce a new Multi-Agent Path Finding (MAPF) problem which is motivated by an industrial application. Given a fleet of robots that move on a workspace that may contain static obstacles, we must find paths from their current positions to a set of destinations, and the goal is to minimise the length of the longest path. The originality of our problem comes from the fact that each robot is attached with a cable to an anchor point, and that robots are not able to cross these cables.
We formally define the Non-Crossing MAPF (NC-MAPF) problem and show how to compute lower and upper bounds by solving well known assignment problems. We introduce a Variable Neighbourhood Search (VNS) approach for improving the upper bound, and a Constraint Programming (CP) model for solving the problem to optimality. We experimentally evaluate these approaches on randomly generated instances.
https://drops.dagstuhl.de/storage/00lipics/lipics-vol210-cp2021/LIPIcs.CP.2021.45/LIPIcs.CP.2021.45.pdf
Constraint Programming (CP)
Multi-Agent Path Finding (MAPF)
Assignment Problems