What Does Multi-agent Path-finding Tell Us About Intelligent Intersections

Škopková, Věra; Barták, Roman; Švancara, Jiří

doi:10.5220/0009098502500257

Cited by 1 publication

(1 citation statement)

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“…In particular, vehicles are not allowed to wait in the intersection, and a minimum speed is usually required to prevent vehicles from spending arbitrarily long time in the intersection. To our knowledge, the only work that applies MAPF algorithms to the CPIC problem is (Skopkova, Bartak, and Svancara 2020), but it does not consider the above challenges and is thus not suitable for practical deployments.…”

Section: Multi-agent Path Finding (Mapf)mentioning

confidence: 99%

Intersection Coordination with Priority-Based Search for Autonomous Vehicles

Hoang

Lin

et al. 2023

AAAI

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The development of connected and autonomous vehicles opens an opportunity to manage intersections without signals. One promising approach is to use a central autonomous intersection manager to optimize the movement of the vehicles in the intersection. Existing work uses Mixed Integer Linear Programming (MILP) to find optimal solutions for this problem but is time-consuming and cannot be applied in real-time. On the other hand, the coordination of the vehicles is essentially a Multi-Agent Path Finding (MAPF) problem, for which dozens of efficient algorithms have been proposed in recent years. Inspired by these MAPF algorithms, we propose a three-level algorithm called PSL to solve the intersection coordination problem. Theoretically, PSL is complete and polynomial-time in the number of vehicles. Empirically, PSL runs significantly faster with only a slight compromise in the solution quality than the optimal MILP method. It also generates significantly better solutions with a slightly larger runtime than the traditional First-Come-First-Served strategy.

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Section: Multi-agent Path Finding (Mapf)mentioning

confidence: 99%