论文标题
计划执行多代理路径，室内四轮驱动器
Plan Execution for Multi-Agent Path Finding with Indoor Quadcopters
论文作者
论文摘要
我们研究了本文中多代理路径查找（MAPF）问题的计划和行动阶段。 MAPF是将代理从其开始位置导航到指定的个人目标位置的问题，因此代理不会相互碰撞。具体来说，我们专注于用一组疯狂的室内四轮驱动器来执行MAPF计划。我们展示了如何修改现有的基于时间冲突的搜索算法（CCB），以制定适合与四轮驱动器执行的计划。代理阶段使用Loco定位系统检查计划是否正确执行。我们的发现是，CCBS算法允许扩展可以为四轮驱动器制定安全计划，即每个四轮驱动器周围的圆柱保护区。
We study the planning and acting phase for the problem of multi-agent path finding (MAPF) in this paper. MAPF is a problem of navigating agents from their start positions to specified individual goal positions so that agents do not collide with each other. Specifically we focus on executing MAPF plans with a group of Crazyflies, small indoor quadcopters . We show how to modify the existing continuous time conflict-based search algorithm (CCBS) to produce plans that are suitable for execution with the quadcopters. The acting phase uses the the Loco positioning system to check if the plan is executed correctly. Our finding is that the CCBS algorithm allows for extensions that can produce safe plans for quadcopters, namely cylindrical protection zone around each quadcopter can be introduced at the planning level.
