Theory and implementation of path planning by negotiation for decentralized agents

This paper presents a cooperative decentralized path-planning algorithm for a group of autonomous agents that provides guaranteed collisionfree trajectories in real-time. The algorithm is robust with respect to arbitrary delays in the wireless traffic, possible sources being transmission time and error correction. Agents move on reserved areas which are guaranteed not to intersect, therefore ensuring safety. A handshaking procedure guarantees recent information states for the agents. Conflicts between agents are resolved by a cost-based negotiation process. The basic algorithm

• Type: Journal
• Year: 2008
• Where: RAS
• Authors: Oliver Purwin, Raffaello D'Andrea, Jin-Woo Lee
• Keywords: Arbitrary Delays, Autonomous Agents, Decentralized Path-planning Algorithm, RAS 2008