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Authors: Jiří Švancara 1 ; David Zahrádka 2 ; 3 ; Mrinalini Subramanian 1 ; Roman Barták 1 and Miroslav Kulich 3

Affiliations: 1 Faculty of Mathematics and Physics, Charles University, Prague, Czech Republic ; 2 Dept. of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Czech Republic ; 3 Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University in Prague, Prague, Czech Republic

Keyword(s): Multi-Agent Path Finding, Temporal Uncertainty, Policy, SAT.

Abstract: Multi-Agent path finding (MAPF) deals with the problem of finding collision-free paths for a group of mobile agents moving in a shared environment. In practice, the duration of individual move actions may not be exact but rather spans in a given range. Such extension of the MAPF problem is called MAPF with Temporal Uncertainty (MAPF-TU). In this paper, we propose a compilation-based approach to generate safe agents’ policies solving the MAPF-TU problem. The policy guarantees that each agent reaches its destination without collision with other agents provided that all agents move within their predefined temporal uncertainty range. We show both theoretically and empirically that using policies rather than plans is guaranteed to solve more types of instances and find a better solution.

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Paper citation in several formats:
Švancara, J., Zahrádka, D., Subramanian, M., Barták, R. and Kulich, M. (2025). Generating Safe Policies for Multi-Agent Path Finding with Temporal Uncertainty. In Proceedings of the 17th International Conference on Agents and Artificial Intelligence - Volume 3: ICAART; ISBN 978-989-758-737-5; ISSN 2184-433X, SciTePress, pages 1238-1244. DOI: 10.5220/0013315400003890

@conference{icaart25,
author={Ji\v{r}í Švancara and David Zahrádka and Mrinalini Subramanian and Roman Barták and Miroslav Kulich},
title={Generating Safe Policies for Multi-Agent Path Finding with Temporal Uncertainty},
booktitle={Proceedings of the 17th International Conference on Agents and Artificial Intelligence - Volume 3: ICAART},
year={2025},
pages={1238-1244},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013315400003890},
isbn={978-989-758-737-5},
issn={2184-433X},
}

TY - CONF

JO - Proceedings of the 17th International Conference on Agents and Artificial Intelligence - Volume 3: ICAART
TI - Generating Safe Policies for Multi-Agent Path Finding with Temporal Uncertainty
SN - 978-989-758-737-5
IS - 2184-433X
AU - Švancara, J.
AU - Zahrádka, D.
AU - Subramanian, M.
AU - Barták, R.
AU - Kulich, M.
PY - 2025
SP - 1238
EP - 1244
DO - 10.5220/0013315400003890
PB - SciTePress

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