{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/any-angle-pathfinding-for-multiple-agents","title":"Any-Angle Pathfinding for Multiple Agents Based on SIPP Algorithm","arxiv_id":"1703.04159","date":"2017-03-12","proceeding":null,"authors":["Konstantin Yakovlev","Anton Andreychuk"],"abstract":"The problem of finding conflict-free trajectories for multiple agents of\nidentical circular shape, operating in shared 2D workspace, is addressed in the\npaper and decoupled, e.g., prioritized, approach is used to solve this problem.\nAgents' workspace is tessellated into the square grid on which any-angle moves\nare allowed, e.g. each agent can move into an arbitrary direction as long as\nthis move follows the straight line segment whose endpoints are tied to the\ndistinct grid elements. A novel any-angle planner based on Safe Interval Path\nPlanning (SIPP) algorithm is proposed to find trajectories for an agent moving\namidst dynamic obstacles (other agents) on a grid. This algorithm is then used\nas part of a prioritized multi-agent planner AA-SIPP(m). On the theoretical,\nside we show that AA-SIPP(m) is complete under well-defined conditions. On the\nexperimental side, in simulation tests with up to 200 agents involved, we show\nthat our planner finds much better solutions in terms of cost (up to 20%)\ncompared to the planners relying on cardinal moves only.","url_abs":"http://arxiv.org/abs/1703.04159v2","url_pdf":"http://arxiv.org/pdf/1703.04159v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"any-angle-pathfinding-for-multiple-agents","repo_url":"https://github.com/PathPlanning/AA-SIPP-m","is_official":0,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}