A decentralized token-based negotiation approach for multi-agent path finding
Type :
Conference paper
Publication Status :
Published
Access :
restrictedAccess
Abstract
This paper introduces a negotiation approach to solve the Multi-Agent Path Finding problem. The approach aims to achieve a good trade-off between the privacy of the agents and the effectiveness of solutions. Accordingly, a token-based bilateral negotiation protocol and a compatible negotiation strategy are presented. The proposed approach is evaluated in a variety of scenarios by comparing it with state-of-the-art centralized approaches such as Conflict Based Search and its variant. The experimental results showed that the proposed approach can find conflict-free path solutions with a higher success rate, especially when the search space is large and high-density compared to centralized approaches while the gap between path cost differences is reasonably low. The proposed approach enables agents to have their autonomy; thus, it is convenient for MAPF problems involving self-interested agents.
Source :
European Conference on Multi-Agent Systems EUMAS 2021: Multi-Agent Systems, Part of the Lecture Notes in Computer Science book series (LNAI,volume 12802)
Date :
2021
Volume :
12802 LNAI
Publisher :
Springer
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