Multi-Agent Path Finding

Student: Ivanashev Ilya

Educational Programme: Applied Mathematics and Information Science (Bachelor)

Final Grade: 10

Year of Graduation: 2020

Problem of multi-agent pathfinding is to find a set of paths for several moving agents so that there are no spatio-temporal conflicts between any pair of these paths. There are a lot of different methods designed for solving this problem, which can be divided into several classes. The goal of this work is to implement algorithms belonging to different classes and to compare them empirically. In order to achieve this goal three algorithms and a range of their modifications were implemented: prioritized planning, Push and rotate and Conflict based search. In addition to that new techniques improving the performance of Push and rotate were suggested. Experimental evaluation was carried out and recommendations on applying the algorithms for solving practical tasks were given.

Full text (added May 20, 2020)

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