Multi-Objective Loosely Synchronized Search for Multi-Objective Multi-Agent Path Finding with Asynchronous Actions  

作　　者：DU Haikuo GUO Zhengyu ZHANG Lulu CAI Yunze 杜海阔;郭正玉;章露露;蔡云泽(Department of Automation,Shanghai Jiao Tong University,Shanghai,200240,China;Key Laboratory of System Control and Information Processing,Ministry of Education,Shanghai,200240,China;China Airborne Missile Academy,Luoyang,Henan,471000,China;National Key Laboratory of Air-based Information Perception and Fusion,Luoyang,Henan,471000,China)

机构地区：[1]Department of Automation,Shanghai Jiao Tong University,Shanghai,200240,China [2]Key Laboratory of System Control and Information Processing,Ministry of Education,Shanghai,200240,China [3]China Airborne Missile Academy,Luoyang,Henan,471000,China [4]National Key Laboratory of Air-based Information Perception and Fusion,Luoyang,Henan,471000,China

出　　处：《Journal of Shanghai Jiaotong university(Science)》2024年第4期667-677,共11页上海交通大学学报（英文版）

基　　金：Aeronautical Science Foundation of China(No.20220001057001)。

摘　　要：In recent years,the path planning for multi-agent technology has gradually matured,and has made breakthrough progress.The main difficulties in path planning for multi-agent are large state space,long algorithm running time,multiple optimization objectives,and asynchronous action of multiple agents.To solve the above problems,this paper first introduces the main problem of the research:multi-objective multi-agent path finding with asynchronous action,and proposes the algorithm framework of multi-objective loose synchronous(MO-LS)search.By combining A*and M*,MO-LS-A*and MO-LS-M*algorithms are respectively proposed.The completeness and optimality of the algorithm are proved,and a series of comparative experiments are designed to analyze the factors affecting the performance of the algorithm,verifying that the proposed MO-LS-M*algorithm has certain advantages.

关 键 词：multi-agent path finding multi-objective path planning asynchronous action loosely synchronous search 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]