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Advancing MAPF Toward the Real World: A Scalable Multi-Agent Realistic Testbed (SMART)

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์ €์ž

Jingtian Yan, Zhifei Li, William Kang, Kevin Zheng, Yulun Zhang, Zhe Chen, Yue Zhang, Daniel Harabor, Stephen F. Smith, Jiaoyang Li

๐Ÿ’ก ๊ฐœ์š”

๋ณธ ๋…ผ๋ฌธ์€ ์‹ค์ œ ํ™˜๊ฒฝ์—์„œ์˜ ๋ฉ€ํ‹ฐ ์—์ด์ „ํŠธ ๊ฒฝ๋กœ ์ฐพ๊ธฐ(MAPF) ์•Œ๊ณ ๋ฆฌ์ฆ˜ ์„ฑ๋Šฅ ํ‰๊ฐ€๋ฅผ ์œ„ํ•œ ํ˜„์‹ค์ ์ด๊ณ  ํšจ์œจ์ ์ธ ์†Œํ”„ํŠธ์›จ์–ด ๋„๊ตฌ์ธ SMART(Scalable Multi-Agent Realistic Testbed)๋ฅผ ์ œ์•ˆํ•ฉ๋‹ˆ๋‹ค. SMART๋Š” ๋กœ๋ด‡์˜ ๋™์—ญํ•™๊ณผ ์‹คํ–‰ ๋ถˆํ™•์‹ค์„ฑ ๋“ฑ ๋ณต์žกํ•œ ์‹ค์ œ ์š”์†Œ๋ฅผ ๊ณ ๋ คํ•˜๋Š” ๋ฌผ๋ฆฌ ์—”์ง„ ๊ธฐ๋ฐ˜ ์‹œ๋ฎฌ๋ ˆ์ด์…˜๊ณผ Action Dependency Graph ๊ธฐ๋ฐ˜ ์‹คํ–‰ ๋ชจ๋‹ˆํ„ฐ ํ”„๋ ˆ์ž„์›Œํฌ๋ฅผ ํ†ตํ•ด ๋‹ค์–‘ํ•œ MAPF ํ”Œ๋ž˜๋„ˆ ๋ฐ ๋กœ๋ด‡ ๋ชจ๋ธ๊ณผ์˜ ํ†ตํ•ฉ์„ ์šฉ์ดํ•˜๊ฒŒ ํ•ฉ๋‹ˆ๋‹ค. ์ด๋ฅผ ํ†ตํ•ด ์ˆ˜์ฒœ ๋Œ€์˜ ๋กœ๋ด‡์— ๋Œ€ํ•œ ํ™•์žฅ ๊ฐ€๋Šฅํ•œ ํ…Œ์ŠคํŠธ ํ™˜๊ฒฝ์„ ์ œ๊ณตํ•˜๋ฉฐ, MAPF ์ „๋ฌธ๊ฐ€๊ฐ€ ์•„๋‹ˆ๋”๋ผ๋„ ์‰ฝ๊ฒŒ MAPF ํ”Œ๋ž˜๋„ˆ ์„ฑ๋Šฅ์„ ํ…Œ์ŠคํŠธํ•˜๊ณ  ์ดํ•ดํ•  ์ˆ˜ ์žˆ๋„๋ก ๋•์Šต๋‹ˆ๋‹ค.

๐Ÿ”‘ ์‹œ์‚ฌ์  ๋ฐ ํ•œ๊ณ„

โ€ข
MAPF ์—ฐ๊ตฌ์—์„œ ์‹ค์ œ ๋กœ๋ด‡์˜ ๋ณต์žกํ•œ ๋™์—ญํ•™๊ณผ ์‹คํ–‰ ๋ถˆํ™•์‹ค์„ฑ์„ ๋ฐ˜์˜ํ•œ ํ˜„์‹ค์ ์ธ ํ‰๊ฐ€ ํ™˜๊ฒฝ์˜ ํ•„์š”์„ฑ์„ ์ถฉ์กฑ์‹œํ‚ต๋‹ˆ๋‹ค.
โ€ข
๋‹ค์–‘ํ•œ MAPF ํ”Œ๋ž˜๋„ˆ์™€ ๋กœ๋ด‡ ๋ชจ๋ธ์— ๋Œ€ํ•œ ์‰ฌ์šด ํ†ตํ•ฉ ๋ฐ ํ™•์žฅ์„ฑ์„ ์ œ๊ณตํ•˜์—ฌ ์—ฐ๊ตฌ ๋ฐ ์‚ฐ์—…๊ณ„์˜ MAPF ์ ์šฉ์„ ์ด‰์ง„ํ•ฉ๋‹ˆ๋‹ค.
โ€ข
ํ˜„์žฌ๋Š” ์ œ์‹œ๋œ ํ”„๋ ˆ์ž„์›Œํฌ๋ฅผ ๊ธฐ๋ฐ˜์œผ๋กœ ๋‹ค์–‘ํ•œ MAPF ์•Œ๊ณ ๋ฆฌ์ฆ˜๋“ค์„ SMART ํ™˜๊ฒฝ์— ํ†ตํ•ฉํ•˜๊ณ , ์‹ค์ œ ํ™˜๊ฒฝ๊ณผ์˜ ๊ฐ„๊ทน์„ ์ค„์ด๊ธฐ ์œ„ํ•œ ์ถ”๊ฐ€์ ์ธ ์—ฐ๊ตฌ๊ฐ€ ํ•„์š”ํ•ฉ๋‹ˆ๋‹ค.
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