Spectral Clustering in Rule-Based Algorithms for Multi-Agent Path Finding

Irene Saccani; Kristýna Janovská; Pavel Surynek

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Paper

Spectral Clustering in Rule-Based Algorithms for Multi-Agent Path Finding

Topics: Autonomous Agents; Modeling, Simulation and Architecture; Optimization Algorithms; Planning and Scheduling

In Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, 258-265, 2023 , Rome, Italy

Authors: Irene Saccani ¹ ; Kristýna Janovská ² and Pavel Surynek ²

Affiliations: ¹ University of Parma, Prama, Italy ; ² Czech Technical University in Prague, Prague, Czechia

Keyword(s): Multi-Agent Path Finding, Rule-Based Algorithms, Spectral Clustering, Biconnected Components.

Abstract: We focus on rule-based algorithms for multi-agent path finding (MAPF) in this paper. MAPF is a task of finding non-conflicting paths connecting agents’ specified initial and goal positions in a shared environment specified via an undirected graph. Rule-based algorithms use a fixed set of predefined primitives to move agents to their goal positions in a complete manner. We propose to apply spectral clustering on the underlying graph to decompose the graph into highly connected component and move agents to their goal cluster first before the rule-based algorithm is applied. The benefit of this approach is twofold: (1) the algorithms are often more efficient on highly connected clusters and (2) we can potentially run the algorithms in parallel on individual clusters.

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Paper citation in several formats:

Saccani, I.; Janovská, K. and Surynek, P. (2023). Spectral Clustering in Rule-Based Algorithms for Multi-Agent Path Finding. In Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-670-5; ISSN 2184-2809, SciTePress, pages 258-265. DOI: 10.5220/0012206800003543

@conference{icinco23,
author={Irene Saccani. and Kristýna Janovská. and Pavel Surynek.},
title={Spectral Clustering in Rule-Based Algorithms for Multi-Agent Path Finding},
booktitle={Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2023},
pages={258-265},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012206800003543},
isbn={978-989-758-670-5},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Spectral Clustering in Rule-Based Algorithms for Multi-Agent Path Finding
SN - 978-989-758-670-5
IS - 2184-2809
AU - Saccani, I.
AU - Janovská, K.
AU - Surynek, P.
PY - 2023
SP - 258
EP - 265
DO - 10.5220/0012206800003543
PB - SciTePress