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Authors: Ján Chudý ; Nestor Popov and Pavel Surynek

Affiliation: Faculty of Information Technology, Czech Technical University in Prague, Thákurova 9, 160 00 Praha 6, Czechia

Keyword(s): Multi-Agent Pathfinding (MAPF), Deployment, Desynchronization, Swarm of Robots, Reflex-based Control.

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.

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Paper citation in several formats:
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 - ROBOVIS; ISBN 978-989-758-479-4, SciTePress, pages 28-38. DOI: 10.5220/0010105800280038

@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 - ROBOVIS},
year={2020},
pages={28-38},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010105800280038},
isbn={978-989-758-479-4},
}

TY - CONF

JO - Proceedings of the International Conference on Robotics, Computer Vision and Intelligent Systems - 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

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