Challenges in Applying Multi-Agent Path Finding Solutions to Real-World Applications
Jinwon Lee, Woojin Chung · 2024
Multi-Agent Path Finding (MAPF) is a problem that involves planning collision-free paths from start to goal locations for individual agents. Numerous studies have been conducted to solve MAPF. However, there are many challenges that should be addressed to apply the planned paths in real-world applications. This paper explores these issues, focusing on path planning and execution for multi-robot operations. Briefly, during the planning phase, both the characteristics of the robots and the workspace should be considered for direct application in robot control. In the execution phase, the system needs to adapt to unexpected environmental changes.