Publication

K. Janovska and P. Surynek. Multi-Agent Path Finding in Continuous Environment. In IEEE International Conference on Tools with Artificial Intelligence (ICTAI), 2024.

Abstract: We address a variant of multi-agent path finding in continuous environment (SC-MAPF), where agents move along sets of smooth curves. Collisions between agents are resolved via avoidance in the space domain. In this work a new Continuous Environment Conflict-Based Search (CE-CBS) algorithm is proposed. CE-CBS combines conflict-based search (CBS) for the high-level search framework with RRT* for low-level path planning. The CE-CBS algorithm is tested under various settings on various SC-MAPF instances. Experimental results show that CE-CBS is competitive w.r.t. other algorithms that consider the continuous aspect in MAPF such as MAPF with continuous time.

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