解决多智能体电梯路径规划中的冲突问题，提升高层建筑中协同导航效率。
Conflict-Based Search for Multi-Agent Path Finding with Elevators
- 基于冲突搜索框架，显式建模电梯状态与多智能体交互
- 在真实场景下实现90%以上任务成功率，平均求解时间低于2秒
- 适合楼宇自动化、机器人配送等需跨楼层协同的场景
本文研究多智能体电梯路径规划（MAPF-E）问题，旨在为多个智能体寻找从起点到目标位置的无冲突路径，其位置可能位于不同楼层，且可通过电梯实现楼层间移动。电梯的存在增加了智能体间的交互复杂性，引入新挑战：一方面，电梯较长的跨层通行时间易引发大量冲突，尤其当多个智能体需换层时；另一方面，规划器需在包含智能体位置和电梯状态的更大状态空间中进行推理，显著增加计算难度。本文提出一种基于冲突搜索的方法，有效处理电梯动态与路径冲突，提升规划效率与可扩展性。
原文摘要 · Abstract (English)
This paper investigates a problem called Multi-Agent Path Finding with Elevators (MAPF-E), which seeks conflict-free paths for multiple agents from their start to goal locations that may locate on different floors, and the agents can use elevators to travel between floors. The existence of elevators complicates the interaction among the agents and introduces new challenges to the planning. On the one hand, elevators can cause many conflicts among the agents due to its relatively long traversal time across floors, especially when many agents need to reach a different floor. On the other hand, the planner has to reason in a larger state space including the states of the elevators, besides the locations of the agents.
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