Exact Algorithms for Multiagent Path Finding with Communication Constraints on Tree-Like Structures
Foivos Fioravantes, Du\v{s}an Knop, Jan Maty\'a\v{s} K\v{r}i\v{s}\v{t}an, Nikolaos Melissinos, Michal Opler

TL;DR
This paper develops exact algorithms for multiagent path finding with communication constraints on tree-like networks, focusing on parameterized complexity and providing efficient solutions for specific network structures.
Contribution
It introduces three exact algorithms tailored for tree and bounded treewidth networks, considering communication range and number of agents as parameters.
Findings
Algorithms are efficient for tree and bounded treewidth networks.
Hardness results show difficulty when considering the number of agents as input.
Communication constraints significantly impact path planning complexity.
Abstract
Consider the scenario where multiple agents have to move in an optimal way through a network, each one towards their ending position while avoiding collisions. By optimal, we mean as fast as possible, which is evaluated by a measure known as the makespan of the proposed solution. This is the setting studied in the Multiagent Path Finding problem. In this work, we additionally provide the agents with a way to communicate with each other. Due to size constraints, it is reasonable to assume that the range of communication of each agent will be limited. What should be the trajectories of the agents to, additionally, maintain a backbone of communication? In this work, we study the Multiagent Path Finding with Communication Constraint problem under the parameterized complexity framework. Our main contribution is three exact algorithms that are efficient when considering particular…
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Taxonomy
TopicsRobotic Path Planning Algorithms · Logic, Reasoning, and Knowledge · Constraint Satisfaction and Optimization
