Deployment of Multi-agent Pathfinding on a Swarm of Physical Robots Centralized Control via Reflex-based Behavior

Ján Chudý, Nestor Popov, Pavel Surynek

2020

Abstract

Multi-agent pathfinding is a problem of finding paths for multiple agents from their initial configuration to their goal configuration that results in a plan execution without collisions. In this paper, we deploy MAPF solutions on a swarm of small mobile robots. During the plan execution, we mitigate the problem of desynchronization that comes with the plan execution on physical hardware using the reflex-based behavior of the robots. Such deployment can help researchers and educators to demonstrate and test their findings in the physical world. The robot has a line-following capability that can be used for simulation of discrete MAPF solutions. The control curves are displayed in real-time on a display on which the robots move during their path execution. A prototype of the deployment was built and tested experimentally.

Paper Citation

in Harvard Style

Chudý J., Popov N. and Surynek P. (2020). Deployment of Multi-agent Pathfinding on a Swarm of Physical Robots Centralized Control via Reflex-based Behavior. In Proceedings of the International Conference on Robotics, Computer Vision and Intelligent Systems - Volume 1: ROBOVIS; ISBN 978-989-758-479-4, SciTePress, pages 28-38. DOI: 10.5220/0010105800280038

in Bibtex Style

@conference{robovis20,
author={Ján Chudý and Nestor Popov and Pavel Surynek},
title={Deployment of Multi-agent Pathfinding on a Swarm of Physical Robots Centralized Control via Reflex-based Behavior},
booktitle={Proceedings of the International Conference on Robotics, Computer Vision and Intelligent Systems - Volume 1: ROBOVIS},
year={2020},
pages={28-38},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010105800280038},
isbn={978-989-758-479-4},
}

in EndNote Style

TY - CONF

JO - Proceedings of the International Conference on Robotics, Computer Vision and Intelligent Systems - Volume 1: ROBOVIS
TI - Deployment of Multi-agent Pathfinding on a Swarm of Physical Robots Centralized Control via Reflex-based Behavior
SN - 978-989-758-479-4
AU - Chudý J.
AU - Popov N.
AU - Surynek P.
PY - 2020
SP - 28
EP - 38
DO - 10.5220/0010105800280038
PB - SciTePress