Summary of A Real-time Rescheduling Algorithm For Multi-robot Plan Execution, by Ying Feng et al.
A Real-Time Rescheduling Algorithm for Multi-robot Plan Execution
by Ying Feng, Adittyo Paul, Zhe Chen, Jiaoyang Li
First submitted to arxiv on: 26 Mar 2024
Categories
- Main: Artificial Intelligence (cs.AI)
- Secondary: Multiagent Systems (cs.MA); Robotics (cs.RO)
GrooveSquid.com Paper Summaries
GrooveSquid.com’s goal is to make artificial intelligence research accessible by summarizing AI papers in simpler terms. Each summary below covers the same AI paper, written at different levels of difficulty. The medium difficulty and low difficulty versions are original summaries written by GrooveSquid.com, while the high difficulty version is the paper’s original abstract. Feel free to learn from the version that suits you best!
| Summary difficulty | Written by | Summary |
|---|---|---|
| High | Paper authors | High Difficulty Summary Read the original abstract here |
| Medium | GrooveSquid.com (original content) | Medium Difficulty Summary This paper explores efficient replanning strategies in multi-agent path finding when agents are delayed during execution. A key challenge is determining the optimal passing order of agents visiting the same location. To address this, the authors propose Switchable-Edge Search (SES), an A*-style algorithm designed to find the optimal sequence. The paper proves the optimality of SES and evaluates its efficiency through simulations. The results show that the best variant of SES can solve small- and medium-sized problems in under 1 second, outperforming baselines by up to 4 times for larger problems. |
| Low | GrooveSquid.com (original content) | Low Difficulty Summary This research is about finding a better way for multiple robots or agents to move around together when some of them get delayed. Imagine you’re at an amusement park with friends, and one of your friends gets stuck on the Ferris wheel while the rest of you want to go on the rollercoaster. You need to decide who goes first and in what order. This paper proposes a new way to solve this problem, called Switchable-Edge Search (SES). The researchers tested SES and showed that it’s much faster than previous methods. |
