TY  - JOUR
AU  - Keskin, M. Onur
AU  - Cantürk, Furkan
AU  - Eran, Cihan
AU  - Aydoğan, Reyhan
PY  - 2024
DA  - 2024/03/13
TI  - Decentralized multi-agent path finding framework and strategies based on automated negotiation
JO  - Autonomous Agents and Multi-Agent Systems
SP  - 10
VL  - 38
IS  - 1
AB  - This paper introduces a negotiation framework to solve the Multi-Agent Path Finding (MAPF) Problem for self-interested agents in a decentralized fashion. The framework aims to achieve a good trade-off between the privacy of the agents and the effectiveness of solutions. Accordingly, a token-based bilateral negotiation protocol and two negotiation strategies are presented. The experimental results over four different settings of the MAPF problem show that the proposed approach could find conflict-free path solutions albeit suboptimally, especially when the search space is large and high-density. In contrast, Explicit Estimation Conflict-Based Search (EECBS) struggles to find optimal solutions. Besides, deploying a sophisticated negotiation strategy that utilizes information about local density for generating alternative paths can yield remarkably better solution performance in this negotiation framework.
SN  - 1573-7454
UR  - https://doi.org/10.1007/s10458-024-09639-8
DO  - 10.1007/s10458-024-09639-8
ID  - Keskin2024
ER  -