Abstract

In the Multi-Agent Path Finding (MAPF) problem, a set of agents moving on a graph must reach their respective destinations without inter-agent collisions. In the MAPF problem, when agents plan a route, they compete for some resources on a specific route, and such contention sometimes causes deadlock. However, unpredictable obstacles like warehouses may appear in real scenes, making route planning difficult. Based on the existing MAPF algorithm, this paper proposes a new algorithm that relies on an adaptive prioritization scheme to pay effort to the adjacent movements of multiple agents in the presence of unpredictable and moving obstacles while avoiding collisions.

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