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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.

Cite as

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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