Testing Method for Multi-UAV Conflict Resolution Using Agent-Based Simulation and Multi-Objective Search

A Testing Method for Multi-UAV Conflict Resolution Using Agent-Based Simulation and Multi-Objective Search

We present a new approach to testing multi-UAV conflict resolution algorithms. We have formulated the problem as a multi-objective search problem, with two objectives: finding air traffic encounters that (1) are able to reveal faults in conflict resolution algorithms, and (2) are likely to happen in the real world. Our method uses agent-based simulation and multiobjective search to automaticall...

Testing Method for Multi-UAV Conflict Resolution Using Agent-Based Simulation and Multi-Objective Search

Conflict Resolution for Multi- Agent Hybrid Systems

A conflict resolution architecture for multi-agent hybrid systems with emphasis on Air Traffic Management Systems (ATMS) is presented. In such systems, conflicts arise in the form of potential collisions which are resolved locally by inter-agent coordination. This results in a decentralized architecture in which safety issues are resolved locally and central agencies, such as Air Traffic Contro...

ICBS: Improved Conflict-Based Search Algorithm for Multi-Agent Pathfinding

Conflict-Based Search (CBS) and its enhancements, Meta-Agent CBS and bypassing conflicts are amongst the strongest newly introduced algorithms for Multi-Agent Path Finding. This paper introduces two new improvements to CBS and incorporates them into a coherent, improved version of CBS, namely ICBS. Experimental results show that each of these improvements further reduces the runtime over the ex...

Conflict-Based Search for Optimal Multi-Agent Path Finding

In the multi agent path finding problem (MAPF) paths should be found for several agents, each with a different start and goal position such that agents do not collide. Previous optimal solvers applied global A*-based searches. We present a new search algorithm called Conflict Based Search (CBS). CBS is a two-level algorithm. At the high level, a search is performed on a tree based on conflicts ...