DMS*: Towards Minimizing Makespan for Multi-Agent Combinatorial Path Finding

Multi-Agent Combinatorial Path Finding (MCPF) seeks collision-free paths for multiple agents from their start to goal locations, while visiting a set of intermediate target locations in the middle of the paths. MCPF is challenging as it involves both planning collision-free paths for multiple agents and target sequencing, i.e., solving traveling salesman problems to assign targets to and find the visiting order for the agents. Recent work develops methods to address MCPF while minimizing the sum of individual arrival times at goals. Such a problem formulation may result in paths with different arrival times and lead to a long makespan, the maximum arrival time, among the agents. This letter proposes a min-max variant of MCPF, denoted as MCPF-max, that minimizes the makespan of the agents. While the existing methods (such as
MS*
) for MCPF can be adapted to solve MCPF-max, we further develop two new techniques based on
MS*
to defer the expensive target sequencing during planning to expedite the overall computation. We analyze the properties of the resulting algorithm Deferred
MS*
(
DMS*
), and test
DMS*
with up to 20 agents and 80 targets. We demonstrate the use of
DMS*
on differential-drive robots.