2022-10-19 11:58:45 +00:00
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---
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title: Online Multi-Agent Path Planning in Runaway Scenarios
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author: Lesur, Paul & Bajcinca, Naim
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2022-10-19 12:32:27 +00:00
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date: '2022-09-01'
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2022-10-19 11:58:45 +00:00
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publications:
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- sgmapf
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---
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# Online Multi-Agent Path Planning in Runaway Scenarios
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Not yet accepted / published
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## Authors
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Lesur, Paul & Bajcinca, Naim
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## Abstract
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In this work we present a real-time capable algorithm for solving path planning
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problems for the application of Runaway Scenarios. In such applications, a main agent has to follow
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a path, and other secondary agents should create space for the main agent,
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without colliding with one another. Our algorithm uses a low-level path planner,
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similar to what can be found in the literature for the problem of Multi-Agent
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Path Finding (MAPF), and combines it with our novel Planner Scheduler, a
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high-level scheduler that allows us to find a sub-optimal solution quickly.
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2023-02-09 17:23:41 +00:00
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## Results
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One can find the detailed results (numbers and animations) [here](../../runaway_planning/results).
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