Intelligent planning and control

Decentralized navigation of multiple interchangeable agents

S. A. Dergachev

Federal Research Center "Computer Science and Control" of Russian Academy of Sciences, Moscow

Abstract: The paper addresses the problem of multi-agent navigation, where a group of agents must reach a set of target positions, but it is not necessary for a specific agent to reach a particular target. Unlike existing centralized methods, this work proposes a fully decentralized approach in which agents independently select targets and actions based on local observations and communication. To ensure consistent target assignment, new algorithms have been developed using a target and priority swapping procedure. This procedure has been applied to both discrete and continuous space representations. It has been proven that the proposed approaches guarantee the finding of a solution under certain conditions. Experimental results demonstrate that the proposed methods effectively handle various highly complex tasks.

Keywords: multi-agent navigation, navigation of interchangeable agents, multi-agent path planning.

DOI: 10.14357/20718594250406

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