文献类型：会议论文

英文题名：Continuous Multi-Agent Path Finding for Drone Delivery

作者：Chen, Ming[1]; He, Ning[2]; Hong, Chen[3]

机构：[1] Beijing Key Laboratory of Information Service Engineering, Beijing Union University, Beijing, 100101, China; [2] College of Smart City, Beijing Union University, Beijing, 100101, China; [3] College of Robotics, Beijing Union University, Beijing, 100101, China

第一机构：北京联合大学北京市信息服务工程重点实验室

通讯机构：[2]College of Smart City, Beijing Union University, Beijing, 100101, China|[11417]北京联合大学;

会议论文集：Pattern Recognition and Computer Vision - 7th Chinese Conference, PRCV 2024, Proceedings

会议日期：October 18, 2024 - October 20, 2024

会议地点：Urumqi, China

语种：英文

外文关键词：Air traffic control - Aircraft detection - Clock and data recovery circuits (CDR circuits) - Drones

摘要：Unmanned Aircraft Systems Traffic Management (UTM) is important for the safety and efficiency of multiple drone delivery. In the paper, we introduce continuous time Multi-Agent Path Finding (MAPF) for UTM system with pre-flight Conflict Detection and Resolution (CDR), and propose a new version of MAPF named Multi-Drone Delivery Path Finding (MDDPF), where agents move continuously in the metric space with different path costs and traverse the conflict-free paths in round trips. We also propose a novel algorithm called RCCBS that continuously solves a continuous-time MAPF instance according to newly assigned tasks. Simulations on the Sendai 2030 drone delivery model case show that RCCBS efficiently solves the MDDPF problem. ? The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.