• Corpus ID: 41287597

IntEx 2017 Working Notes of the Workshop on Integrated Execution of Planning and Acting

  title={IntEx 2017 Working Notes of the Workshop on Integrated Execution of Planning and Acting},
  author={M. Roberts and Sara Bernardini and Tim Niemueller},
In the multi-agent path-finding (MAPF) problem a plan is needed to move a set of agents from their initial location to their goals without collisions. In this paper we introduce and study the k-robust MAPF problem, where we seek a plan that is robust to k unexpected delays per agent. We show how to convert a popular optimal MAPF solver – Conflict-Based Search (CBS) – to solve the k-robust MAPF problem. To handle cases where there are more than k unexpected delays, we analyze several execution… 

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