@inproceedings{10.1007/978-3-030-82254-5_16,
author = {Eran, Cihan and Keskin, M. Onur and Cant\"{u}rk, Furkan and Aydo\u{g}an, Reyhan},
title = {A Decentralized Token-Based Negotiation Approach for Multi-Agent Path Finding},
year = {2021},
isbn = {978-3-030-82253-8},
publisher = {Springer-Verlag},
address = {Berlin, Heidelberg},
url = {https://doi.org/10.1007/978-3-030-82254-5_16},
doi = {10.1007/978-3-030-82254-5_16},
abstract = {This paper introduces a negotiation approach to solve the Multi-Agent Path Finding problem. The approach 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 a compatible negotiation strategy are presented. The proposed approach is evaluated in a variety of scenarios by comparing it with state-of-the-art centralized approaches such as Conflict Based Search and its variant. The experimental results showed that the proposed approach can find conflict-free path solutions with a higher success rate, especially when the search space is large and high-density compared to centralized approaches while the gap between path cost differences is reasonably low. The proposed approach enables agents to have their autonomy; thus, it is convenient for MAPF problems involving self-interested agents.},
booktitle = {Multi-Agent Systems: 18th European Conference, EUMAS 2021, Virtual Event, June 28–29, 2021, Revised Selected Papers},
pages = {264–280},
numpages = {17},
keywords = {Decentralized coordination, Self-interested agents, Negotiation, Multi-Agent Path Finding}
}