论文标题
推动信封：通过懒惰编码从离散到连续运动查找
Pushing the Envelope: From Discrete to Continuous Movements in Multi-Agent Path Finding via Lazy Encodings
论文作者
论文摘要
本文解决了使用几何代理Mapf $^\ Mathcal {r} $在连续空间和时间中查找的多代理路径。任务是导航代理在预定义的位置之间顺利移动到其个人目标，以免碰撞。我们介绍了一种基于{\ em Explibalible Modulo Theories}（SMT）的新型解决方法，用于获取称为SMT-CBS $^\ MATHCAL {R} $的MAKEPAN最佳解决方案。新算法结合了从基于冲突的搜索（CBS）已知的碰撞分辨率和上一代不完整的SAT编码的新颖方案，以选择潜在的无数搜索空间中的决策变量。我们在实验上比较了smt-cbs $^\ mathcal {r} $和mapf $^\ mathcal {r} $的先前CCBS算法。
Multi-agent path finding in continuous space and time with geometric agents MAPF$^\mathcal{R}$ is addressed in this paper. The task is to navigate agents that move smoothly between predefined positions to their individual goals so that they do not collide. We introduce a novel solving approach for obtaining makespan optimal solutions called SMT-CBS$^\mathcal{R}$ based on {\em satisfiability modulo theories} (SMT). The new algorithm combines collision resolution known from conflict-based search (CBS) with previous generation of incomplete SAT encodings on top of a novel scheme for selecting decision variables in a potentially uncountable search space. We experimentally compare SMT-CBS$^\mathcal{R}$ and previous CCBS algorithm for MAPF$^\mathcal{R}$.
