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DOI: 10.4230/LIPIcs.CP.2021.45

Solving the Non-Crossing MAPF with CP

Authors: Xiao Peng, Christine Solnon, and Olivier Simonin

Published in: LIPIcs, Volume 210, 27th International Conference on Principles and Practice of Constraint Programming (CP 2021)

Abstract

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.

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Xiao Peng, Christine Solnon, and Olivier Simonin. Solving the Non-Crossing MAPF with CP. In 27th International Conference on Principles and Practice of Constraint Programming (CP 2021). Leibniz International Proceedings in Informatics (LIPIcs), Volume 210, pp. 45:1-45:16, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2021)

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@InProceedings{peng_et_al:LIPIcs.CP.2021.45,
  author =	{Peng, Xiao and Solnon, Christine and Simonin, Olivier},
  title =	{{Solving the Non-Crossing MAPF with CP}},
  booktitle =	{27th International Conference on Principles and Practice of Constraint Programming (CP 2021)},
  pages =	{45:1--45:16},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-211-2},
  ISSN =	{1868-8969},
  year =	{2021},
  volume =	{210},
  editor =	{Michel, Laurent D.},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops-dev.dagstuhl.de/entities/document/10.4230/LIPIcs.CP.2021.45},
  URN =		{urn:nbn:de:0030-drops-153367},
  doi =		{10.4230/LIPIcs.CP.2021.45},
  annote =	{Keywords: Constraint Programming (CP), Multi-Agent Path Finding (MAPF), Assignment Problems}
}

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Solving the Non-Crossing MAPF with CP

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