scholarly journals Multi-Agent Path Finding for Large Agents

2019 ◽  
Vol 33 ◽  
pp. 7627-7634 ◽  
Author(s):  
Jiaoyang Li ◽  
Pavel Surynek ◽  
Ariel Felner ◽  
Hang Ma ◽  
T. K. Satish Kumar ◽  
...  
Keyword(s):  
Real World ◽  
State Of The Art ◽  
Tree Search ◽  
Multiple Constraints ◽  
Path Finding ◽  
Multiple Points ◽  
Admissible Heuristics ◽  
Single Location ◽  
Multi Agent ◽  
High Level

Multi-Agent Path Finding (MAPF) has been widely studied in the AI community. For example, Conflict-Based Search (CBS) is a state-of-the-art MAPF algorithm based on a twolevel tree-search. However, previous MAPF algorithms assume that an agent occupies only a single location at any given time, e.g., a single cell in a grid. This limits their applicability in many real-world domains that have geometric agents in lieu of point agents. Geometric agents are referred to as “large” agents because they can occupy multiple points at the same time. In this paper, we formalize and study LAMAPF, i.e., MAPF for large agents. We first show how CBS can be adapted to solve LA-MAPF. We then present a generalized version of CBS, called Multi-Constraint CBS (MCCBS), that adds multiple constraints (instead of one constraint) for an agent when it generates a high-level search node. We introduce three different approaches to choose such constraints as well as an approach to compute admissible heuristics for the high-level search. Experimental results show that all MC-CBS variants outperform CBS by up to three orders of magnitude in terms of runtime. The best variant also outperforms EPEA* (a state-of-the-art A*-based MAPF solver) in all cases and MDD-SAT (a state-of-the-art reduction-based MAPF solver) in some cases.

scholarly journals Improved Heuristics for Multi-Agent Path Finding with Conflict-Based Search

2019 ◽  
Author(s):  
Jiaoyang Li ◽  
Ariel Felner ◽  
Eli Boyarski ◽  
Hang Ma ◽  
Sven Koenig
Keyword(s):  
Success Rate ◽  
Recent Work ◽  
Path Finding ◽  
Admissible Heuristics ◽  
Multi Agent ◽  
High Level

Conflict-Based Search (CBS) and its enhancements are among the strongest algorithms for Multi-Agent Path Finding. Recent work introduced an admissible heuristic to guide the high-level search of CBS. In this work, we prove the limitation of this heuristic, as it is based on cardinal conflicts only. We then introduce two new admissible heuristics by reasoning about the pairwise dependencies between agents. Empirically, CBS with either new heuristic significantly improves the success rate over CBS with the recent heuristic and reduces the number of expanded nodes and runtime by up to a factor of 50.

scholarly journals Unifying Search-based and Compilation-based Approaches to Multi-agent Path Finding through Satisfiability Modulo Theories

2019 ◽  
Author(s):  
Pavel Surynek
Keyword(s):  
Undirected Graph ◽  
State Of The Art ◽  
The State ◽  
Satisfiability Modulo Theories ◽  
Path Finding ◽  
Low Level ◽  
Multi Agent ◽  
High Level ◽  
Novel Algorithm

We unify search-based and compilation-based approaches to multi-agent path finding (MAPF) through satisfiability modulo theories (SMT). The task in MAPF is to navigate agents in an undirected graph to given goal vertices so that they do not collide. We rephrase Conflict-Based Search (CBS), one of the state-of-the-art algorithms for optimal MAPF solving, in the terms of SMT. This idea combines SAT-based solving known from MDD-SAT, a SAT-based optimal MAPF solver, at the low-level with conflict elimination of CBS at the high-level. Where the standard CBS branches the search after a conflict, we refine the propositional model with a disjunctive constraint. Our novel algorithm called SMT-CBS hence does not branch at the high-level but incrementally extends the propositional model. We experimentally compare SMT-CBS with CBS, ICBS, and MDD-SAT.

scholarly journals Searching with Consistent Prioritization for Multi-Agent Path Finding

2019 ◽  
Vol 33 ◽  
pp. 7643-7650 ◽  
Author(s):  
Hang Ma ◽  
Daniel Harabor ◽  
Peter J. Stuckey ◽  
Jiaoyang Li ◽  
Sven Koenig
Keyword(s):  
State Of The Art ◽  
A Priori ◽  
Path Finding ◽  
Combinatorial Search ◽  
Random Assignment ◽  
Success Rates ◽  
Multi Agent ◽  
Priority Ordering ◽  
First Time ◽  
Theoretical Results

We study prioritized planning for Multi-Agent Path Finding (MAPF). Existing prioritized MAPF algorithms depend on rule-of-thumb heuristics and random assignment to determine a fixed total priority ordering of all agents a priori. We instead explore the space of all possible partial priority orderings as part of a novel systematic and conflict-driven combinatorial search framework. In a variety of empirical comparisons, we demonstrate state-of-the-art solution qualities and success rates, often with similar runtimes to existing algorithms. We also develop new theoretical results that explore the limitations of prioritized planning, in terms of completeness and optimality, for the first time.

scholarly journals Bringing Multi-agent Path Finding Closer to Reality

2018 ◽  
Author(s):  
Jiří Švancara
Keyword(s):  
Real World ◽  
Path Finding ◽  
Multiple Agents ◽  
New Agents ◽  
The Real ◽  
Classical Definition ◽  
Multi Agent ◽  
Definition Of

Multi-agent path finding is the problem of navigating multiple agents from their current locations to their goal locations in such a way that there are no collisions between the agents. The classical definition of the problem assumes that the set of agents is unchangeable, and that the distances in the graph are homogeneous. We propose to add to the problem specification a set of new attributes to bring it closer to the real world. These attributes include varying distances, number of agents that can occupy an edge or node, and dynamic appearance of new agents.

scholarly journals Symmetry-Breaking Constraints for Grid-Based Multi-Agent Path Finding

2019 ◽  
Vol 33 ◽  
pp. 6087-6095 ◽  
Author(s):  
Jiaoyang Li ◽  
Daniel Harabor ◽  
Peter J. Stuckey ◽  
Hang Ma ◽  
Sven Koenig
Keyword(s):  
Symmetry Breaking ◽  
State Of The Art ◽  
Search Space ◽  
Single Step ◽  
Path Finding ◽  
Current Path ◽  
Rate Versus ◽  
Multi Agent ◽  
Specialized Technique ◽  
A Current

We describe a new way of reasoning about symmetric collisions for Multi-Agent Path Finding (MAPF) on 4-neighbor grids. We also introduce a symmetry-breaking constraint to resolve these conflicts. This specialized technique allows us to identify and eliminate, in a single step, all permutations of two currently assigned but incompatible paths. Each such permutation has exactly the same cost as a current path, and each one results in a new collision between the same two agents. We show that the addition of symmetry-breaking techniques can lead to an exponential reduction in the size of the search space of CBS, a popular framework for MAPF, and report significant improvements in both runtime and success rate versus CBSH and EPEA* – two recent and state-of-the-art MAPF algorithms.

Browser Security Attacks and Detection Techniques: A Case of Tabnabbing

2020 ◽  
Vol 8 (1) ◽  
pp. 33-41
Author(s):  
Dr. S. Sarika ◽  
Keyword(s):  
Credit Card ◽  
State Of The Art ◽  
Experimental Results ◽  
Detection Technique ◽  
Security Attacks ◽  
Agent Based ◽  
Detection Techniques ◽  
Browser Security ◽  
Cyber Threats ◽  
Multi Agent

Phishing is a malicious and deliberate act of sending counterfeit messages or mimicking a webpage. The goal is either to steal sensitive credentials like login information and credit card details or to install malware on a victim’s machine. Browser-based cyber threats have become one of the biggest concerns in networked architectures. The most prolific form of browser attack is tabnabbing which happens in inactive browser tabs. In a tabnabbing attack, a fake page disguises itself as a genuine page to steal data. This paper presents a multi agent based tabnabbing detection technique. The method detects heuristic changes in a webpage when a tabnabbing attack happens and give a warning to the user. Experimental results show that the method performs better when compared with state of the art tabnabbing detection techniques.

scholarly journals Efficient End-to-End Sentence-Level Lipreading with Temporal Convolutional Networks

2021 ◽  
Vol 11 (15) ◽  
pp. 6975
Author(s):  
Tao Zhang ◽  
Lun He ◽  
Xudong Li ◽  
Guoqing Feng
Keyword(s):  
Performance Improvement ◽  
State Of The Art ◽  
Error Rates ◽  
Convolutional Network ◽  
Convolutional Networks ◽  
Sentence Level ◽  
End To End ◽  
High Level ◽  
Improved Accuracy ◽  
Talking Face

Lipreading aims to recognize sentences being spoken by a talking face. In recent years, the lipreading method has achieved a high level of accuracy on large datasets and made breakthrough progress. However, lipreading is still far from being solved, and existing methods tend to have high error rates on the wild data and have the defects of disappearing training gradient and slow convergence. To overcome these problems, we proposed an efficient end-to-end sentence-level lipreading model, using an encoder based on a 3D convolutional network, ResNet50, Temporal Convolutional Network (TCN), and a CTC objective function as the decoder. More importantly, the proposed architecture incorporates TCN as a feature learner to decode feature. It can partly eliminate the defects of RNN (LSTM, GRU) gradient disappearance and insufficient performance, and this yields notable performance improvement as well as faster convergence. Experiments show that the training and convergence speed are 50% faster than the state-of-the-art method, and improved accuracy by 2.4% on the GRID dataset.

Time-Efficient Ensemble Learning with Sample Exchange for Edge Computing

2021 ◽  
Vol 21 (3) ◽  
pp. 1-17
Author(s):  
Wu Chen ◽  
Yong Yu ◽  
Keke Gai ◽  
Jiamou Liu ◽  
Kim-Kwang Raymond Choo
Keyword(s):  
Ensemble Learning ◽  
Real World ◽  
Interaction Mechanism ◽  
Training Model ◽  
Edge Computing ◽  
Learning Techniques ◽  
Multi Agent ◽  
Real World Datasets ◽  
Entire Dataset ◽  
Exchange Data

In existing ensemble learning algorithms (e.g., random forest), each base learner’s model needs the entire dataset for sampling and training. However, this may not be practical in many real-world applications, and it incurs additional computational costs. To achieve better efficiency, we propose a decentralized framework: Multi-Agent Ensemble. The framework leverages edge computing to facilitate ensemble learning techniques by focusing on the balancing of access restrictions (small sub-dataset) and accuracy enhancement. Specifically, network edge nodes (learners) are utilized to model classifications and predictions in our framework. Data is then distributed to multiple base learners who exchange data via an interaction mechanism to achieve improved prediction. The proposed approach relies on a training model rather than conventional centralized learning. Findings from the experimental evaluations using 20 real-world datasets suggest that Multi-Agent Ensemble outperforms other ensemble approaches in terms of accuracy even though the base learners require fewer samples (i.e., significant reduction in computation costs).

scholarly journals Enhanced Reinforcement Learning Method Combining One-Hot Encoding-Based Vectors for CNN-Based Alternative High-Level Decisions

2021 ◽  
Vol 11 (3) ◽  
pp. 1291
Author(s):  
Bonwoo Gu ◽  
Yunsick Sung
Keyword(s):  
Reinforcement Learning ◽  
Search Algorithm ◽  
Classification Criteria ◽  
Tree Search ◽  
Learning Method ◽  
Board Game ◽  
Ancient China ◽  
Monte Carlo Tree Search ◽  
High Level ◽  
Tree Search Algorithm

Gomoku is a two-player board game that originated in ancient China. There are various cases of developing Gomoku using artificial intelligence, such as a genetic algorithm and a tree search algorithm. Alpha-Gomoku, Gomoku AI built with Alpha-Go’s algorithm, defines all possible situations in the Gomoku board using Monte-Carlo tree search (MCTS), and minimizes the probability of learning other correct answers in the duplicated Gomoku board situation. However, in the tree search algorithm, the accuracy drops, because the classification criteria are manually set. In this paper, we propose an improved reinforcement learning-based high-level decision approach using convolutional neural networks (CNN). The proposed algorithm expresses each state as One-Hot Encoding based vectors and determines the state of the Gomoku board by combining the similar state of One-Hot Encoding based vectors. Thus, in a case where a stone that is determined by CNN has already been placed or cannot be placed, we suggest a method for selecting an alternative. We verify the proposed method of Gomoku AI in GuPyEngine, a Python-based 3D simulation platform.

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