Date(s) - 14/10/2019
2:00 pm - 3:00 pm
School of Computing Science
SICSA DVF Professor Esra Erdem, Professor in Computer Science and Engineering at Sabanci University will be giving a FATA talk on ‘Generalized Multi-Agent Pathfinding with Feasibility Checks’ at the University of Glasgow on 14th October.
Multi-agent pathfinding (MAPF) aims to plan, for each agent, a route from an initial location to a goal location in an environment such that no two agents collide with each other. We study a generalized version of MAPF (GMAPF) in the context of robotics (e.g., in a factory floor), where some robots must visit some locations (e.g., to pick/deliver some items) on the way to their destinations, and no robot collides with any obstacles in the environment. We present a novel method to solve such GMAPF problems, which combines incremental computation of routes using Answer Set Programming with feasibility checks of routes using sampling-based methods to ensure that the robots can follow collision-free trajectories. We conclude with a discussion of the use of GMAPF problems as a benchmark suite for studies that integrate task planning with motion planning.
Esra Erdem is an associate professor in computer science and engineering at Sabanci University. She received her Ph.D. in computer sciences at the University of Texas at Austin (2002), and carried out postdoctoral research at the University of Toronto and Vienna University of Technology from 2002 to 2006. Her research is in the area of artificial intelligence, in particular, the mathematical foundations of knowledge representation and reasoning, and their applications to cognitive robotics and computational biology.