LSV Seminar
The LSV seminar takes place on Tuesday at 11:00 AM. The usual location is the conference room at Pavillon des Jardins (venue). If you wish to be informed by e-mail about upcoming seminars, please contact Stéphane Le Roux and Matthias Fuegger.
The seminar is open to public and does not require any form of registration.
Seminar
Reachability and Coverage for Connected Agents
- Date
- 10.03.2020, 11:00
- Place
- Pavillon des Jardins
- Speaker
- François Schwarzentruber (ENS Rennes)
Motivated by the increasing appeal of robots in information-gathering missions, we study multi-agent path planning problems in which the agents must remain interconnected. We model an area by a topological graph specifying the movement and the connectivity constraints of the agents. In the first part of the talk, we study the theoretical complexity of the reachability and the coverage problems of a fleet of connected agents. We also introduce a new class called sight-moveable graphs which admit efficient algorithms. In the second part, we re-visit the conflict-based search algorithm known for multi-agent path finding, and define a variant where conflicts arise from disconnections rather than collisions. We give experimental results in which we compare our algorithms with the literature.