用冲突搜索协议统一异构机器人运动规划，无需改造各自系统
Conflict-Based Search as a Protocol: A Multi-Agent Motion Planning Protocol for Heterogeneous Agents, Solvers, and Independent Tasks
- 将冲突搜索作为通用协议，仅需单一单机规划接口
- 支持多种不同算法的机器人协同完成独立任务
- 适用于不同厂商、不同算法的异构机器人团队
未来建筑工地、医院或办公室可能部署数十台来自不同厂商的机器人。如何让这些算法各异的机器人在共享环境中高效协作？本工作提出将冲突搜索（Conflict-Based Search, CBS）作为通用协议，只需一个满足时空约束的单机路径规划接口，中央协调器即可生成无碰撞路径，且不依赖具体实现方式。我们验证了该协议可支持异构团队中多种单机规划器：启发式搜索（如A*）、采样类方法（如RRT）、优化方法（如直接配准）、扩散模型及强化学习，实现多机器人在独立任务下的高效协同。
原文摘要 · Abstract (English)
Imagine the future construction site, hospital, or office with dozens of robots bought from different manufacturers. How can we enable these different robots to effectively move in a shared environment, given that each robot may have its own independent motion planning system? This work shows how we can get efficient collision-free movements between algorithmically heterogeneous agents by using Conflict-Based Search (Sharon et al. 2015) as a protocol. At its core, the CBS Protocol requires one specific single-agent motion planning API; finding a collision-free path that satisfies certain space-time constraints. Given such an API, CBS uses a central planner to find collision-free paths - independent of how the API is implemented. We demonstrate how this protocol enables multi-agent motion planning for a heterogeneous team of agents completing independent tasks with a variety of single-agent planners including: Heuristic Search (e.g., A*), Sampling Based Search (e.g., RRT), Optimization (e.g., Direct Collocation), Diffusion, and Reinforcement Learning.
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