arXiv cs.AI· Foivos Fioravantes, Du\v{s}an Knop, Jan Maty\'a\v{s} K\v{r}i\v{s}\v{t}an, Nikolaos Melissinos, Michal Opler·· 14 小时前AI 评分18
树状结构上带通信约束的多智能体路径规划精确算法
Exact Algorithms for Multiagent Path Finding with Communication Constraints on Tree-Like Structures
AI 导读
针对带通信约束的多智能体路径规划问题，研究者给出三个精确算法，在输入网络为树拓扑、最大度有界或树宽有界时高效求解。这些算法分别以通信范围、智能体数量或 makespan 为参数。作者同时证明，即使 makespan 为 3、通信范围为 1，以智能体数量为参数也难以构造高效算法。
正文 · 原文
Abstract:Consider the scenario where multiple agents have to move in an optimal way through a network, each one towards their ending position while avoiding collisions. By optimal, we mean as fast as possible, which is evaluated by a measure known as the makespan of the proposed solution. This is the setting studied in the Multiagent Path Finding problem. In this work, we additionally provide the agents with a way to communicate with each other. Due to size constraints, it is reasonable to assume that the range of communication of each agent will be limited. What should be the trajectories of the agents to, additionally, maintain a backbone of communication? In this work, we study the Multiagent Path Finding with Communication Constraint problem under the parameterized complexity framework.
Our main contribution is three exact algorithms that are efficient when considering particular structures for the input network. We provide such algorithms for the case when the communication range and the number of agents (the makespan resp.) are provided in the input and the network has a tree topology, or bounded maximum degree (has a tree-like topology, i.e., bounded treewidth resp.). We complement these results by showing that it is highly unlikely to construct efficient algorithms when considering the number of agents as part of the input, even if the makespan is $3$ and the communication range is $1$.
| Comments: | Final version of the paper, published in the Journal of Artificial Intelligence Research |
| Subjects: | Computational Complexity (cs.CC); Artificial Intelligence (cs.AI) |
| Cite as: | arXiv:2412.08556 [cs.CC] |
| (or arXiv:2412.08556v4 [cs.CC] for this version) | |
| https://doi.org/10.48550/arXiv.2412.08556 arXiv-issued DOI via DataCite |
Submission history
From: Foivos Fioravantes [view email]
[v1]
Wed, 11 Dec 2024 17:17:31 UTC (35 KB)
[v2]
Thu, 12 Dec 2024 09:51:26 UTC (35 KB)
[v3]
Fri, 30 May 2025 16:14:52 UTC (841 KB)
[v4]
Wed, 28 Oct 2026 19:22:50 UTC (841 KB)
来源：arXiv cs.AI · arxiv.org