{"id":"https://openalex.org/W4403486902","doi":"https://doi.org/10.3233/faia241010","title":"Decentralized Unlabeled Multi-Agent Pathfinding Via Target And Priority Swapping","display_name":"Decentralized Unlabeled Multi-Agent Pathfinding Via Target And Priority Swapping","publication_year":2024,"publication_date":"2024-10-16","ids":{"openalex":"https://openalex.org/W4403486902","doi":"https://doi.org/10.3233/faia241010"},"language":"en","primary_location":{"id":"doi:10.3233/faia241010","is_oa":true,"landing_page_url":"https://doi.org/10.3233/faia241010","pdf_url":"https://ebooks.iospress.nl/pdf/doi/10.3233/FAIA241010","source":{"id":"https://openalex.org/S4210201731","display_name":"Frontiers in artificial intelligence and applications","issn_l":"0922-6389","issn":["0922-6389","1879-8314"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Artificial Intelligence and Applications","raw_type":"book-chapter"},"type":"book-chapter","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://ebooks.iospress.nl/pdf/doi/10.3233/FAIA241010","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5087318535","display_name":"Stepan Dergachev","orcid":"https://orcid.org/0000-0001-8858-2831"},"institutions":[{"id":"https://openalex.org/I118501908","display_name":"National Research University Higher School of Economics","ror":"https://ror.org/055f7t516","country_code":"RU","type":"education","lineage":["https://openalex.org/I118501908"]},{"id":"https://openalex.org/I1313323035","display_name":"Russian Academy of Sciences","ror":"https://ror.org/05qrfxd25","country_code":"RU","type":"government","lineage":["https://openalex.org/I1313323035"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Stepan Dergachev","raw_affiliation_strings":["Federal Research Center \u201cComputer Science and Control\u201d of the Russian Academy of Sciences","HSE University"],"raw_orcid":"https://orcid.org/0000-0001-8858-2831","affiliations":[{"raw_affiliation_string":"Federal Research Center \u201cComputer Science and Control\u201d of the Russian Academy of Sciences","institution_ids":["https://openalex.org/I1313323035"]},{"raw_affiliation_string":"HSE University","institution_ids":["https://openalex.org/I118501908"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056981356","display_name":"Konstantin Yakovlev","orcid":"https://orcid.org/0000-0002-4377-321X"},"institutions":[{"id":"https://openalex.org/I118501908","display_name":"National Research University Higher School of Economics","ror":"https://ror.org/055f7t516","country_code":"RU","type":"education","lineage":["https://openalex.org/I118501908"]},{"id":"https://openalex.org/I1313323035","display_name":"Russian Academy of Sciences","ror":"https://ror.org/05qrfxd25","country_code":"RU","type":"government","lineage":["https://openalex.org/I1313323035"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Konstantin Yakovlev","raw_affiliation_strings":["AIRI","Federal Research Center \u201cComputer Science and Control\u201d of the Russian Academy of Sciences","HSE University"],"raw_orcid":"https://orcid.org/0000-0002-4377-321X","affiliations":[{"raw_affiliation_string":"AIRI","institution_ids":[]},{"raw_affiliation_string":"Federal Research Center \u201cComputer Science and Control\u201d of the Russian Academy of Sciences","institution_ids":["https://openalex.org/I1313323035"]},{"raw_affiliation_string":"HSE University","institution_ids":["https://openalex.org/I118501908"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.37178105,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10215","display_name":"Semantic Web and Ontologies","score":0.9891999959945679,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10215","display_name":"Semantic Web and Ontologies","score":0.9891999959945679,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10456","display_name":"Multi-Agent Systems and Negotiation","score":0.9835000038146973,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10181","display_name":"Natural Language Processing Techniques","score":0.9789999723434448,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/pathfinding","display_name":"Pathfinding","score":0.9222732782363892},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5201811790466309},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.11071446537971497},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.06373518705368042}],"concepts":[{"id":"https://openalex.org/C25321074","wikidata":"https://www.wikidata.org/wiki/Q1969601","display_name":"Pathfinding","level":4,"score":0.9222732782363892},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5201811790466309},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.11071446537971497},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.06373518705368042},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.3233/faia241010","is_oa":true,"landing_page_url":"https://doi.org/10.3233/faia241010","pdf_url":"https://ebooks.iospress.nl/pdf/doi/10.3233/FAIA241010","source":{"id":"https://openalex.org/S4210201731","display_name":"Frontiers in artificial intelligence and applications","issn_l":"0922-6389","issn":["0922-6389","1879-8314"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Artificial Intelligence and Applications","raw_type":"book-chapter"}],"best_oa_location":{"id":"doi:10.3233/faia241010","is_oa":true,"landing_page_url":"https://doi.org/10.3233/faia241010","pdf_url":"https://ebooks.iospress.nl/pdf/doi/10.3233/FAIA241010","source":{"id":"https://openalex.org/S4210201731","display_name":"Frontiers in artificial intelligence and applications","issn_l":"0922-6389","issn":["0922-6389","1879-8314"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Artificial Intelligence and Applications","raw_type":"book-chapter"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4403486902.pdf"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W4285687848","https://openalex.org/W4289994039","https://openalex.org/W2240526870","https://openalex.org/W3100156731","https://openalex.org/W2623016776","https://openalex.org/W1967962134","https://openalex.org/W3128311703"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"we":[3,144,163,182],"study":[4],"a":[5,15,21,34,52,86,112,148,186],"challenging":[6],"variant":[7],"of":[8,17,23,51,59,69,79,108,189,225],"the":[9,49,67,70,74,81,100,104,134,160,203,210,214,218],"multi-agent":[10],"pathfinding":[11],"problem":[12,82],"(MAPF),":[13],"when":[14,90],"set":[16,22],"agents":[18,130],"must":[19],"reach":[20],"goal":[24,36,122,221],"locations,":[25],"but":[26],"it":[27,193],"does":[28],"not":[29],"matter":[30],"which":[31,55],"agent":[32,92],"reaches":[33],"specific":[35],"\u2013":[37],"Anonymous":[38],"MAPF":[39],"(AMAPF).":[40],"Current":[41],"optimal":[42],"and":[43,63,72,96,114,152,191,197,206],"suboptimal":[44],"AMAPF":[45,76],"solvers":[46],"rely":[47],"on":[48,99,217],"existence":[50],"centralized":[53,196],"controller":[54],"is":[56,111,167],"in":[57,85,223,231],"charge":[58],"both":[60,195],"target":[61,115,174],"assignment":[62],"pathfinding.":[64],"We":[65],"extend":[66],"state":[68],"art":[71],"present":[73],"first":[75],"solver":[77],"capable":[78],"solving":[80],"at":[83],"hand":[84],"fully":[87],"decentralized":[88,157,198],"fashion,":[89],"each":[91,173],"makes":[93],"decisions":[94],"individually":[95],"relies":[97],"only":[98],"local":[101],"communication":[102],"with":[103,138,147],"others.":[105],"The":[106],"core":[107],"our":[109],"method":[110],"priority":[113],"swapping":[116],"procedure":[117],"tailored":[118],"to":[119,155,194],"produce":[120],"consistent":[121,220],"assignments":[123],"(i.e.":[124,169,213],"making":[125],"sure":[126],"that":[127,165,172],"no":[128],"two":[129],"are":[131],"heading":[132],"towards":[133],"same":[135],"goal).":[136],"Coupled":[137],"an":[139,150],"established":[140],"rule-based":[141],"path":[142],"planning,":[143],"end":[145],"up":[146],"TP-SWAP,":[149],"efficient":[151],"flexible":[153],"approach":[154],"solve":[156],"AMAPF.":[158],"On":[159],"theoretical":[161],"side,":[162],"prove":[164],"TP-SWAP":[166,170,184,201],"complete":[168],"guarantees":[171],"will":[175],"be":[176],"reached":[177],"by":[178],"some":[179],"agent).":[180],"Empirically,":[181],"evaluate":[183],"across":[185],"wide":[187],"range":[188],"setups":[190],"compare":[192],"baselines.":[199],"Indeed,":[200],"outperforms":[202],"fully-decentralized":[204],"competitor":[205],"can":[207],"even":[208],"outperform":[209],"semi-decentralized":[211],"one":[212,215],"relying":[216],"initial":[219],"assignment)":[222],"terms":[224],"flowtime":[226],"(a":[227],"widespread":[228],"cost":[229],"objective":[230],"MAPF).":[232]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}