cooperative pathfinding david silver. overview the problem solution methods local repair a*...

Cooperative Pathfinding

David Silver

Overview The problem Solution methods

Local repair A* Cooperative A* Hierarchical, Cooperative A* Windowed, Hierarchical, Cooperative A*

Live demo (!?) Results

The Problem N agents N goals Find N paths Such that no two

paths overlap

The Problem with the Problem Search space is enormous

e.g. 100x100 gridworld ~(10,000)N states Branching factor of 5N

{N, E, S, W, wait} for each agent

Need to solve in real-time e.g. complete search within 1ms

Reformulating the Problem Err… isn’t this course called Single

Agent Search? So simplify the problem to a series

of single agent searches. Two approaches considered:

A* with local repair Cooperative A*

1. A* with Local Repair Search for route to goal Ignore other agents If collision is imminent, route again Increase agitation level with each

reroute Cross fingers and hope for the best

Problems with Local Repair Failure to reach goal Long solution lengths Frequent recalculation Appearance of ‘stupidity’

2. Cooperative A* Consider each agent in turn,

greedily Search for a route to goal, avoiding

reserved states Mark the agent’s route in a

reservation table Basic heuristic uses Manhattan

distance

Search Space The new search space has 3

dimensions 2 dimensional grid Time dimension

Reservation table marks illegal states Mark each state on any agent’s path Sparse data structure Implemented using hash table

Problems with Cooperative A* Poor heuristic, many nodes expanded

Need to improve heuristic Problems with agents at destination

Need to continue searching Sensitive to agent order

Dynamically rotate through agent orders

How to improve the heuristic? Pattern databases no good

Search space too large Goal may be different each time Map may change dynamically

So use hierarchical A* (Holte) Search for goal at abstract level Use abstract distance as heuristic 3 ideas for reusing abstract search

3. Hierarchical, Cooperative A* Domain abstraction

Ignore time dimension Ignore reservation table Basic gridworld search

Cooperative A* as before But using abstract distance as heuristic Abstract distance computed on

demand

Reverse, Resumable A* Search backwards from Goal Search towards Start But only terminate when requested

node is reached Keep Open, Closed lists Resume search whenever a new

node is requested Consistent heuristic required

4. Windowed, Hierarchical, Cooperative A* Break up search into manageable

pieces Like an intermediate abstraction layer

Full search up to N steps Ignore time/reservations after N steps

After N steps this is the same as abstract layer

So use abstract distance to complete search

Windowing

S

G

N

window

abstract edged(N,G) = h(N,G)

Continuing the search Continue search after reaching

destination May need to get out of the way Use edge costs:

0 if sitting on destination 1 for other edges Abstract distance to goal for final

edge

Using Windows Compute window for all agents

initially Then recompute each agent when

half way through window Stagger computation to spread out

processing time Can keep abstract distances until

destination changes

Demo I hope this works!

Results: nodes expanded

0200400600800

100012001400160018002000

A* LRA* CA* HCA* W-32 W-16 W-8

BaseAbstract

Results: path length

0102030405060708090

100

A* LRA* CA* CHA* W-32 W-16 W-8

Length

Further ideas Additional layers in the hierarchy

e.g. ignore half the reservations Prioritising agents

Overriding low priority agents Abstracting in space as well as

time e.g. Using N-cliques