Multi-Agent Path Planning in Known Dynamic Environments. Murano, A.; Perelli, G.; and Rubin, S. In PRIMA 2015: Principles and Practice of Multi-Agent Systems - 18th International Conference, Bertinoro, Italy, October 26-30, 2015, Proceedings, pages 218–231, 2015.
Multi-Agent Path Planning in Known Dynamic Environments. [link]Paper  abstract   bibtex   
We consider the problem of planning paths of multiple agents in a dynamic but predictable environment. Typical scenarios are evacuation, reconfiguration, and containment. We present a novel representation of abstract path-planning problems in which the stationary environment is explicitly coded as a graph (called the arena) while the dynamic environment is treated as just another agent. The complexity of planning using this representation is pspace-complete. The arena complexity (i.e., the complexity of the planning problem in which the graph is the only input, in particular, the number of agents is fixed) is np-hard. Thus, we provide structural restrictions that put the arena complexity of the planning problem into ptime(for any fixed number of agents). The importance of our work is that these structural conditions (and hence the complexity results) do not depend on graph-theoretic properties of the arena (such as clique- or tree-width), but rather on the abilities of the agents.
@inproceedings
	{
	C-MPR15,
	author				=	{Aniello Murano and Giuseppe Perelli and Sasha Rubin},
	title					=	{Multi-Agent Path Planning in Known Dynamic Environments.},
	abstract			=	{We consider the problem of planning paths of multiple agents in a dynamic but predictable environment. Typical scenarios are evacuation, reconfiguration, and containment. We present a novel representation of abstract path-planning problems in which the stationary environment is explicitly coded as a graph (called the arena) while the dynamic environment is treated as just another agent. The complexity of planning using this representation is pspace-complete. The arena complexity (i.e., the complexity of the planning problem in which the graph is the only input, in particular, the number of agents is fixed) is np-hard. Thus, we provide structural restrictions that put the arena complexity of the planning problem into ptime(for any fixed number of agents). The importance of our work is that these structural conditions (and hence the complexity results) do not depend on graph-theoretic properties of the arena (such as clique- or tree-width), but rather on the abilities of the agents.},
	booktitle			=	{{PRIMA} 2015: Principles and Practice of Multi-Agent Systems - 18th International Conference, Bertinoro, Italy, October 26-30, 2015, Proceedings},
	pages					=	"218--231",
	year					=	"2015",
	url						=	{https://link.springer.com/chapter/10.1007%2F978-3-319-25524-8_14},
}
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